CN110537322A - Control device of electric motor, method of motor control and electric power steering device - Google Patents

Abstract

Control device of electric motor carries out the control of the PWM for driving the inverter of three-phase brushless motor according to current instruction value, control device of electric motor has: voltage instruction value operational part, calculates voltage instruction value using the motor electrical angle and motor speed, above-mentioned current instruction value that obtain in each control period from above-mentioned three-phase brushless motor；Electrical angle interpolation portion estimates interpolation electrical angle according to above-mentioned motor electrical angle according to the segmentation interval after being split the above-mentioned control period；Transformation component calculates the duty instruction value of three-phase according to above-mentioned voltage instruction value and above-mentioned motor electrical angle, and the interpolation duty instruction value of three-phase is calculated according to above-mentioned voltage instruction value and above-mentioned interpolation electrical angle；And output configuration part, switch with being consistent with above-mentioned segmentation interval and exports the duty instruction value of above-mentioned three-phase and the interpolation duty instruction value of above-mentioned three-phase.

Description

Control device of electric motor, method of motor control and electric power steering device

Technical field

The present invention relates to control device of electric motor, method of motor control and electric power steering devices.The application root The Patent proposed in the Patent 2017-207030 of Japan's proposition, on October 24th, 2018 in Japan according on October 26th, 2017 2018-200293, on October 24th, 2018 mention in the Patent 2018-200294 of Japan's proposition, on October 24th, 2018 in Japan Patent 2018-200295 out, on October 24th, 2018 advocate its priority in the Patent 2018-200296 that Japan proposes, and It is hereby incorporated its content.

Background technique

In the steering mechanism of vehicle, assign in the electric power steering device (EPS) of steering assistance power (auxiliary force) etc. Use efficient brushless motor more.The control device of electric motor for controlling brushless motor passes through PWM (Pulse Width Modulation, pulse width modulation) control, to control the inverter for driving brushless motor.In recent years, in vehicle-mounted production It is required as product etc. in the brushless motor being equipped in the product of high reliability, the dead area compensation of inverter is necessary.

In the control device of electric motor for carrying out PWM control to brushless motor, brushless motor is to carry out week of PWM operation Frequency (such as 4KHz) corresponding to phase (such as 250 μ s) is vibrated, to have the following problems: generating the electronic of the frequency Sound caused by machine.As for inhibiting the simplest method of sound caused by the motor, enumerate with motor vibration The frequency method that the period as (20KHz or more) (50 μ s or less) carries out PWM operation outside audible frequency range, but in the feelings Calculation process amount increases under condition, it is therefore desirable to which the component costs of the microcomputer of the high high price of processing capacity, ECU rise, and deposit In order to improve operating frequency and power consumption increase the problem of.

Electric power steering device documented by patent document 1 passes through operation meter when generating pwm signal shortly before use Control signal (duty instruction value) etc. of the PWM control of calculating calculates duty instruction value, the control signal for controlling PWM It is changed with 2 times of the period for carrying out the period of PWM operation.The calculation process amount of microcomputer slightly increases, but energy Enough sound caused by the vibration of inhibition brushless motor and motor.

Existing technical literature

Patent document

Patent document 1: No. 4946075 bulletins of Japanese Patent No.

Summary of the invention

Subject to be solved by the invention

However, electric power steering device documented by patent document 1 calculates interpolation duty using duty instruction value Compare instruction value.Due to current control responsiveness, current detection accuracy, duty instruction value briefly changes, therefore interpolation sometimes Duty instruction value becomes the value comprising big noise.When in duty instruction value including big noise, especially in high speed There are problems that abnormal sound occurs when steering.

In addition, also describing the side of the rotation angle calculation interpolation duty instruction value using rotor in patent document 1 Method.Differential is carried out and calculated angular speed using to the rotation angle of rotor in the calculating of interpolation duty instruction value.So And only the rotation angle of rotor differentiate and is not enough to remove noise contribution, sometimes interpolation duty instruction value at For the value comprising big noise.

In addition, in the case where carrying out the dead area compensation of inverter in control device of electric motor, it is desirable to not by including mistake Calculate interpolation duty instruction value to the influence of the noise of the dead area compensation value of crossing property response.

Based on the above issues, the few interpolation duty ratio of noise can be calculated the object of the present invention is to provide one kind to refer to Value is enabled, control device of electric motor, the motor control of sound caused by the vibration of brushless motor, motor can be properly inhibited Method processed and electric power steering device equipped with the control device of electric motor.

The method used for solving the problem

In order to solve the above problems, the present invention provides the following method.

The control device of electric motor of the 1st aspect of the present invention is carried out according to current instruction value for driving three-phase brushless electric The PWM of the inverter of motivation is controlled, and above-mentioned control device of electric motor has: voltage instruction value operational part, use is in each control Motor electrical angle and motor speed that period processed obtains from above-mentioned three-phase brushless motor, above-mentioned current instruction value calculate Voltage instruction value；Electrical angle interpolation portion, according to the segmentation interval after being split the above-mentioned control period, according to above-mentioned electronic Electromechanical angle estimates interpolation electrical angle；Transformation component calculates three-phase according to above-mentioned voltage instruction value and above-mentioned motor electrical angle Duty instruction value, and instructed according to the interpolation duty ratio that above-mentioned voltage instruction value and above-mentioned interpolation electrical angle calculate three-phase Value；And output configuration part, switch and export the duty instruction value of above-mentioned three-phase and upper with above-mentioned segmentation interval with being consistent State the interpolation duty instruction value of three-phase.

Second method according to the present invention, in the control device of electric motor of first method, above-mentioned electrical angle interpolation portion can Above-mentioned interpolation electrical angle is estimated to use some operation in quadratic function interpolation operation and linear function interpolation operation.

Third Way according to the present invention, in the control device of electric motor of second method, above-mentioned electrical angle interpolation portion exists In the case that above-mentioned motor speed is lower than scheduled first revolving speed, quadratic function interpolation operation can be used to estimate above-mentioned insert Electrical angle is mended, in the case where above-mentioned motor speed is above-mentioned first revolving speed or more, quadratic function interpolation operation can be cut It is changed to linear function interpolation operation.

Fourth way according to the present invention, in the control device of electric motor of Third Way, above-mentioned electrical angle interpolation portion exists In the case that above-mentioned motor speed is higher than scheduled second revolving speed, above-mentioned motor electrical angle can be exported and inserted as above-mentioned Mend electrical angle, wherein above-mentioned scheduled second revolving speed is higher than above-mentioned first revolving speed.

5th mode according to the present invention is filled in the Motor Control of any one mode of the first method into fourth way In setting, the above-mentioned control period can be 100 μ s or more, 250 μ s or less.

6th mode according to the present invention is filled in the Motor Control of any one mode of the first method into the 5th mode In setting, above-mentioned three-phase brushless motor can be controlled by vector driving method, above-mentioned transformation component carries out space vector modulation.

It is that PWM control is carried out to inverter according to current instruction value in the method for motor control of the 7th aspect of the present invention Three-phase brushless motor method of motor control, above-mentioned method of motor control comprises the following steps: voltage instruction value fortune Calculate step, using each motor electrical angle for being obtained from above-mentioned three-phase brushless motor of control period and motor speed, Above-mentioned current instruction value calculates voltage instruction value；Electrical angle interpolating step, after being split the above-mentioned control period Segmentation interval estimates interpolation electrical angle according to above-mentioned motor electrical angle；Shift step, according to above-mentioned voltage instruction value and above-mentioned Motor electrical angle calculates the duty instruction value of three-phase, and calculates three according to above-mentioned voltage instruction value and above-mentioned interpolation electrical angle The interpolation duty instruction value of phase；And output setting procedure, switch with being consistent with above-mentioned segmentation interval and exports above-mentioned three-phase Duty instruction value and above-mentioned three-phase interpolation duty instruction value.

Eighth mode according to the present invention walks in the method for motor control of the 7th mode in above-mentioned electrical angle interpolation In rapid, quadratic function interpolation operation and linear function interpolation operation can be switched to estimate above-mentioned interpolation electrical angle.

9th mode according to the present invention walks in the method for motor control of eighth mode in above-mentioned electrical angle interpolation In rapid, in the case where above-mentioned motor speed is lower than scheduled first revolving speed, quadratic function interpolation operation can be used to push away Fixed above-mentioned interpolation electrical angle can be by quadratic function interpolation operation when above-mentioned motor speed is above-mentioned first revolving speed or more It is switched to linear function interpolation operation.

Tenth mode according to the present invention walks in the method for motor control of the 9th mode in above-mentioned electrical angle interpolation In rapid, in the case where above-mentioned motor speed is higher than scheduled second revolving speed, above-mentioned motor electrical angle can be exported to make For above-mentioned interpolation electrical angle, wherein above-mentioned scheduled second revolving speed is higher than above-mentioned first revolving speed.

The electric power steering device of 11st mode of the invention is the electric power steering device of vector majorization mode, should Electric power steering device, which has, is at least transformed to three-phase duty ratio for the dq shaft current instruction value calculated according to steering torque Instruction value carries out driving control to three-phase brushless motor by the PWM control of inverter according to above-mentioned three-phase duty instruction value System, and to the function that the dead zone of above-mentioned inverter compensates, and electric motor driven power steering is filled and is assigned to the steering mechanism of vehicle Auxiliary torque is given, above-mentioned electric power steering device has: the first space vector modulation portion, it will according to above-mentioned motor angle Dq axis duty instruction value is transformed to three-phase to be superimposed triple-frequency harmonics, exports the regular duty instruction value of three-phase, wherein dq axis Duty instruction value is calculated according to above-mentioned dq shaft current instruction value, motor angle and motor speed；Electrical angle Interpolation portion carries out interpolation operation according to above-mentioned motor angle to export interpolation duty ratio operation motor angle；Second Space vector modulation portion is converted above-mentioned dq axis duty instruction value with motor angle according to above-mentioned interpolation duty ratio operation It is superimposed triple-frequency harmonics for three-phase, exports the interpolation duty instruction value of three-phase；Final duty ratio operational part, according to it is above-mentioned just It advises duty instruction value and above-mentioned interpolation duty instruction value exports final regular dutyfactor value and final interpolation dutyfactor value.

12nd mode according to the present invention, in the electric power steering device of the 11st mode, above-mentioned electrical angle is inserted Benefit portion can have: motor angle switch judgement part, determine whether above-mentioned motor angle belongs to preset range to export Switching mark；Arithmetic processing section carries out interpolation operation to above-mentioned motor angle；With offset arithmetic processing section, to The above-mentioned motor angle that predetermined angular implements migration processing carries out interpolation operation, to implementing the above-mentioned of above-mentioned interpolation operation Predetermined angular implements offset return processing；And switching part, the first interpolation from above-mentioned arithmetic processing section is inputted with electronic Machine angle and from above-mentioned band offset arithmetic processing section the second interpolation motor angle, according to above-mentioned switching mark into Row switching is to export above-mentioned interpolation duty ratio operation motor angle.

13rd mode according to the present invention, it is above-mentioned in the electric power steering device of the 11st or the 12nd mode Interpolation operation can be quadratic function interpolation operation or linear function interpolation operation.

14th mode according to the present invention, in the electric-powered of any one mode of the 11st mode into 13 modes In transfer, above-mentioned arithmetic processing section can have the first overturning processing unit, and the arithmetic processing section of above-mentioned band offset is above-mentioned Have the second overturning processing unit after migration processing, has third overturning processing unit after above-mentioned offset return processing.

15th mode according to the present invention, in the electric-powered of any one mode of the 11st mode into 14 modes In transfer, above-mentioned preset range can be 90 ° or more 270 ° of ranges below.

16th mode according to the present invention, in the electric-powered of any one mode of the 12nd mode into 15 modes In transfer, above-mentioned predetermined angular can be 180 °.

Invention effect

Control device of electric motor according to the present invention, method of motor control and it is equipped with the control device of electric motor Electric power steering device can calculate the few interpolation duty instruction value of noise, can properly inhibit brushless motor Vibration and motor caused by sound, and can reduce sound caused by the motor of audible frequency range.

Detailed description of the invention

Fig. 1 is the structure for indicating the electric power steering device of the control device of electric motor equipped with first embodiment Schematic diagram.

Fig. 2 is the functional structure for the control device of electric motor being made up of the control unit of the electric power steering device Figure.

Fig. 3 is the PWM control unit of the control device of electric motor and the structure chart of inverter.

Fig. 4 is the functional structure chart of the motor control part of the control device of electric motor.

Fig. 5 is the structure chart in the electrical angle interpolation portion of the motor control part.

Fig. 6 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle of SOH operation.

Fig. 7 is the functional structure chart of the SOH operational part in the electrical angle interpolation portion.

Fig. 8 shows the control flow charts in the electrical angle interpolation portion.

Fig. 9 is the chart for indicating the waveform in the electrical angle interpolation portion.

Figure 10 is the functional structure chart in the space vector modulation portion of the motor control part.

Figure 11 is the functional structure chart of the final duty ratio operational part of the motor control part.

Figure 12 is the functional structure chart of the duty ratio output configuration part of the motor control part.

Figure 13 indicates the output timing of final regular duty instruction value and final interpolation duty instruction value.

Figure 14 is the chart for indicating to deduce the analog result of interpolation electrical angle.

Figure 15 is the structure for indicating the electric power steering device of the control device of electric motor equipped with second embodiment Schematic diagram.

Figure 16 is the functional structure for the control device of electric motor being made up of the control unit of the electric power steering device Figure.

Figure 17 is the PWM control unit of the control device of electric motor and the structure chart of inverter.

Figure 18 is the functional structure chart of the motor control part of the control device of electric motor.

Figure 19 is the structure chart in the electrical angle interpolation portion of the motor control part.

Figure 20 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 1 of SOH operation.

Figure 21 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 2 of SOH operation.

Figure 22 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 3 of SOH operation.

Figure 23 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 4 of SOH operation.

Figure 24 is the functional structure chart of the SOH operational part in the electrical angle interpolation portion.

Figure 25 indicates the control flow chart in the electrical angle interpolation portion.

Figure 26 is the chart for indicating the waveform in the electrical angle interpolation portion.

Figure 27 is the functional structure chart in the space vector modulation portion of the motor control part.

Figure 28 is the functional structure chart of the final duty ratio operational part of the motor control part.

Figure 29 is the functional structure chart of the duty ratio output configuration part of the motor control part.

Figure 30 is the chart for indicating to deduce the analog result of interpolation electrical angle 1.

Figure 31 is the chart for indicating to deduce the analog result of interpolation electrical angle 2.

Figure 32 is the chart for indicating to deduce the analog result of interpolation electrical angle 3.

Figure 33 is the chart for indicating to deduce the analog result of interpolation electrical angle 4.

Figure 34 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 1 deduced Table.

Figure 35 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 2 deduced Table.

Figure 36 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 3 deduced Table.

Figure 37 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 4 deduced Table.

Figure 38 is the structure for indicating to carry the electric power steering device of the control device of electric motor of third embodiment Schematic diagram.

Figure 39 is the functional structure for the control device of electric motor being made up of the control unit of the electric power steering device Figure.

Figure 40 is the PWM control unit of the control device of electric motor and the structure chart of inverter.

Figure 41 is the functional structure chart of the motor control part of the control device of electric motor.

Figure 42 is the structure chart in the electrical angle interpolation portion of the motor control part.

Figure 43 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle of FOH operation.

Figure 44 is the functional structure chart of the FOH operational part in the electrical angle interpolation portion.

Figure 45 indicates the control flow chart in the electrical angle interpolation portion.

Figure 46 is the chart for indicating the waveform in the electrical angle interpolation portion.

Figure 47 is the functional structure chart in the space vector modulation portion of the motor control part.

Figure 48 is the functional structure chart of the final duty ratio operational part of the motor control part.

Figure 49 is the functional structure chart of the duty ratio output configuration part of the motor control part.

Figure 50 is the chart for indicating to deduce the analog result of interpolation electrical angle.

Figure 51 is the chart for indicating to deduce the analog result of interpolation electrical angle.

Figure 52 is the chart for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle deduced.

Figure 53 is the chart for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle deduced.

Figure 54 is the structure for indicating to carry the electric power steering device of the control device of electric motor of the 4th embodiment Schematic diagram.

Figure 55 is the functional structure for the control device of electric motor being made up of the control unit of the electric power steering device Figure.

Figure 56 is the PWM control unit of the control device of electric motor and the structure chart of inverter.

Figure 57 is the functional structure chart of the motor control part of the control device of electric motor.

Figure 58 is the structure chart in the electrical angle interpolation portion of the motor control part.

Figure 59 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 1 of FOH operation.

Figure 60 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 2 of FOH operation.

Figure 61 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 3 of FOH operation.

Figure 62 is to indicate that the electrical angle interpolation portion passes through the chart of the calculated interpolation electrical angle 4 of FOH operation.

Figure 63 is the functional structure chart of the FOH operational part in the electrical angle interpolation portion.

Figure 64 indicates the control flow chart in the electrical angle interpolation portion.

Figure 65 is the chart for indicating the waveform in the electrical angle interpolation portion.

Figure 66 is the functional structure chart in the space vector modulation portion of the motor control part.

Figure 67 is the functional structure chart of the final duty ratio operational part of the motor control part.

Figure 68 is the functional structure chart of the duty ratio output configuration part of the motor control part.

Figure 69 is the chart for indicating to deduce the analog result of interpolation electrical angle 1.

Figure 70 is the chart for indicating to deduce the analog result of interpolation electrical angle 2.

Figure 71 is the chart for indicating to deduce the analog result of interpolation electrical angle 3.

Figure 72 is the chart for indicating to deduce the analog result of interpolation electrical angle 4.

Figure 73 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 1 deduced Table.

Figure 74 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 2 deduced Table.

Figure 75 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 3 deduced Table.

Figure 76 is the figure for indicating the analog result of the duty instruction value calculated using the interpolation electrical angle 4 deduced Table.

Figure 77 is the structure for indicating to carry the electric power steering device of the control device of electric motor of the 5th embodiment Schematic diagram.

Figure 78 is the functional structure for the control device of electric motor being made up of the control unit of the electric power steering device Figure.

Figure 79 is the PWM control unit of the control device of electric motor and the structure chart of inverter.

Figure 80 is the functional structure chart of the motor control part of the control device of electric motor.

Figure 81 is the structure chart in the electrical angle interpolation portion of the motor control part.

Figure 82 is the chart for indicating the calculated interpolation electrical angle 1 in electrical angle interpolation portion.

Figure 83 is the chart for indicating the calculated interpolation electrical angle 2 in electrical angle interpolation portion.

Figure 84 is the chart for indicating the calculated interpolation electrical angle 3 in electrical angle interpolation portion.

Figure 85 is the chart for indicating the calculated interpolation electrical angle 4 in electrical angle interpolation portion.

Figure 86 is the functional structure chart of the SOH operational part in the electrical angle interpolation portion.

Figure 87 is the functional structure chart of the FOH operational part in the electrical angle interpolation portion.

Figure 88 is the functional structure chart of the interpolation operation switch judgement part in the electrical angle interpolation portion.

Figure 89 is the figure for generating the mark of interpolation operation determination unit and interpolation determination unit of the interpolation operation switch judgement part Table.

Figure 90 is the figure for generating the mark of interpolation operation determination unit and interpolation determination unit of the interpolation operation switch judgement part Table.

Figure 91 indicates the control flow chart in the electrical angle interpolation portion.

Figure 92 is the chart for indicating the waveform in the electrical angle interpolation portion.

Figure 93 is the functional structure chart in the space vector modulation portion of the motor control part.

Figure 94 is the functional structure chart of the final duty ratio operational part of the motor control part.

Figure 95 is the functional structure chart of the duty ratio output configuration part of the motor control part.

Figure 96 is the functional structure chart of general control device of electric motor.

Figure 97 is functional structure chart when carrying out drive control to three-phase brushless motor by vector majorization mode.

Figure 98 is the functional structure chart of PWM control unit and inverter.

Figure 99 is the functional structure chart of the interpolation of the existing duty instruction value based on SOH operation.

Figure 100 is the functional structure chart of final duty ratio operational part.

Figure 101 is the chart for indicating the relationship of the reference axis used in coordinate transform and motor angle.

Figure 102 is the line chart of the action example in representation space Vector Modulation portion.

Figure 103 is the timing diagram of the action example in representation space Vector Modulation portion.

Specific embodiment

(first embodiment)

Referring to figs. 1 to Figure 14, first embodiment of the invention is illustrated.

Fig. 1 is the knot for indicating the electric power steering device 300 of the control device of electric motor 400 equipped with present embodiment The schematic diagram of structure.Electric power steering device 300 is the column that motor and deceleration mechanism are configured in columnar part (steering shaft) Shape assist type electric power steering gear.

[electric power steering device 300]

In electric power steering device 300, via columnar shaft (steering shaft, steering wheel shaft) 2, reduction gearing of steering wheel 1 3, universal joint (universal joint) 4a, 4b, gear and rack teeth mechanism 5, pull rod 6a, 6b, and via hub unit 7a, 7b Link with steered wheel 8L, 8R.In addition, rotation angle sensor 14 and the inspection of the rudder angle θ e on columnar shaft 2 equipped with detection direction disk 1 The torque sensor 10 for surveying the steering torque Th of steering wheel 1, for assist steering wheel 1 steering force motor 100 via subtracting Fast gear 3 links with columnar shaft 2.The control unit (ECU) 30 of control electric power steering device 300 is powered by battery 13, and And igniting key signal is inputted via firing key 11.

Control unit 30 is detected according to the steering torque Th detected by torque sensor 10 and by vehicle speed sensor 12 Vehicle velocity V s operation auxiliary (steering assistance) instruction current instruction value, by performing compensation to the current instruction value calculated Deng voltage control instructions value Vref motor 100 is controlled.Rotation angle sensor 14 it is not necessary to, can be unworthy of It sets, can also obtain rudder angle (motor angle) θ e from rotation sensors such as the angular resolvers linked with motor 100.

Control unit 30 has computer, which mainly includes (Central Processing Unit, the center CPU Processing unit) (comprising MPU (Micro Processor Unit, microprocessing unit), MCU (Micro Controller Unit, Micro-control unit) etc.), and executable program.

Control unit 30 has the electronic electromechanics of the inverter 161 of drive motor 100, the electric current for detecting motor 100 The circuits such as current detection circuit 162, the angle detection 110A of motor angle, θ e for detecting motor 100.In addition, these circuits 100 side of motor can also be mounted in.

CAN (the Controller Area of the various information for transmitting vehicle is connected in control unit 30 Network, controller zone network) 40, additionally it is possible to vehicle velocity V s is received from CAN40.In addition, can also be connected in control unit 30 The non-CAN41 for being used to transmit communication, analog/digital signal, electric wave etc. other than CAN40.

In recent years, motor 100 be as the mainstream of the actuator of electric power steering device 300 three-phase brushless it is electronic Machine.Motor 100 is controlled by using the vector majorization mode of space vector driving.Space vector is being used to drive In vector majorization mode, the q axis and use for dominant vector of the reference axis of the rotor as motor 100 are independently set In the d axis of control magnetic field strength, therefore the relationship that dq axis is in 90 ° is equivalent to electric current (the d axis of each axis by the vector majorization Current instruction value Iref_d, q shaft current instruction value Iref_q).

[control device of electric motor 400]

Fig. 2 is the functional structure chart for the control device of electric motor 400 being made up of control unit 30.It is appropriately combined in CPU The electronic circuits such as the program, the inverter that execute in realize the function of control device of electric motor 400.Make in the following description The function of recording for circuit can also be used as the program that executes in CPU etc. to realize.

The drive control of the progress motor 100 of control device of electric motor 400.Control device of electric motor 400 has electric current and refers to Enable value operational part 31, motor control part 39, PWM control unit 160, inverter 161, motor current detection circuit 162, electronic Machine angle detection 110A, angular speed operational part 110B, three-phase alternating current/dq principal axis transformation portion 130.

Current instruction value operational part 31 uses to the output of motor control part 39 according to steering torque Th and vehicle velocity V s etc. auxiliary The dq shaft current instruction value Iref_m (m=d, q) for 2 axis (dq axis coordinate system) for helping figure etc. to calculate.

Motor control part 39 according to dq shaft current instruction value Iref_m (m=d, q), the motor angle, θ e of input and Motor speed N etc., calculating perform the voltage control instructions value Vref_mb (m=d, q) after dead area compensation.In addition, motor Control unit 39 calculates the duty of three-phase by space vector modulation according to voltage control instructions value Vref_mb (m=d, q) etc. Than instruction value Du_o, Dv_o, Dw_o, and export to PWM control unit 160.

Fig. 3 is the structure chart of PWM control unit 160 and inverter 161.

As shown in figure 3, inverter 161 is made of the three-phase bridge of FET, by being connect according to PWM- dutyfactor value D1~D6 On/off comes drive motor 100.Motor switch 101 is inserted between inverter 161 and motor 100, which opens Close 101 supply for the cutting electric current such as when auxiliary control stops.Upper side arm is by FET Q1, Q2, Q3 as switch element It constitutes, lower side arm is made of FET Q4, Q5, Q6.In addition, FET Q1 and Q4 are the driving elements of U phase, FET Q2 and Q5 are V phases Driving element, FET Q3 and Q6 are the driving elements of W phase.

As shown in figure 3, duty instruction value Du_o, Dv_o, the Dw_o of PWM control unit 160 according to the three-phase inputted, warp 161 pairs of motor 100 of inverter (inverter applies voltage VR) being made of the bridge structure of upper lower arm as shown in Figure 3 carry out Drive control.As shown in figure 3, PWM control unit 160 has the portion PWM 160A-2 and gate driving portion 160B.

As shown in figure 3, the portion PWM 160A-2 is according to predetermined formula from duty instruction value Du_o, Dv_o, Dw_o of three-phase points Not Ji Suan three-phase PWM- dutyfactor value D1~D6.For example, inputting triangle wave modulation from oscillating portion 160C to the portion PWM 160A-2 Signal (carrier wave) CF, PWM portion 160A-2 and modulated signal CF synchronously calculate PWM- dutyfactor value D1~D6.

As shown in figure 3, gate driving portion 160B exports PWM- dutyfactor value D1~D6 to drive the FET as driving element The grid of Q1~Q6.

Electric power steering device 300 is vehicle-mounted product, therefore operating temperature range is wide, from the viewpoint of failure safe The inverter 161 of drive motor 100 with using household appliances as the general industry equipment of representative compared with, need to keep dead zone big (commercial plant < EPS).Generally, switch element (such as FET (Field-Effect Transistor, field effect transistor Pipe)) when disconnecting, there are delay times, therefore when the off/on switching for the switch element for carrying out upper lower arm simultaneously, sometimes The situation of DC link short circuit occurs.The generation of the situation in order to prevent, switch element equipped with upper lower arm both sides disconnect when Between (dead zone).

In the case where carrying out dead area compensation as described above, current waveform distortion, responsiveness, the steering feeling of current control When deteriorating, such as slowly turning in the state that steering wheel is located at immediate vicinity, torque pulsation (torque is generated sometimes ) etc. ripple discontinuous steering feeling caused by.

As shown in Fig. 2, current detector 162 detects threephase motor electric current Iu, Iv, Iw of motor 100.It will test out Threephase motor electric current Iu, Iv, Iw be input to three-phase alternating current/dq principal axis transformation portion 130, be transformed to the feedback dq shaft current of two-phase Id,Iq.Feedback dq shaft current Id, Iq of two-phase is input to motor control part 39.

Motor angle detection 110A carries out operation when needed to obtain the motor angle, θ e of motor 100.It will Motor angle, θ e is input to angular speed operational part 110B, motor control part 39 and three-phase alternating current/dq principal axis transformation portion 130.

Angular speed operational part 110B obtains motor speed N and motor angle speed according to motor angle, θ e by operation ω.Motor speed N and motor angle speed omega are input to motor control part 39.

[motor control part 39]

Fig. 4 is the functional structure chart of motor control part 39.

Motor control part 39 has voltage instruction value operational part 220, electrical angle interpolation portion 240, space vector modulation portion 250, final duty ratio operational part 200, duty ratio export configuration part 160A-1.

Voltage instruction value operational part 220 have dq axis dead area compensation value operational part 201, dq shaft current feedback control section 203, Voltage/duty ratio transformation coefficient operational part 204, adder 205, dq axis duty ratio clamper/VR incude operational part 210.

Voltage instruction value operational part 220 uses the motor electrical angle θ obtained from motor 100 in each control cycle T c E and motor speed θ e, current instruction value Iref_m (m=d, q) etc. calculate voltage instruction value (voltage instruction value operation work Sequence).

Dq axis dead area compensation value operational part 201 by according to the motor speed N of input, motor angle (electrical angle) θ e, The calculated dq axis dead area compensation value DT_m (m=d, q) of dq shaft current instruction value Iref_m (m=d, q) is output to adder 205。

Dq shaft current feedback control section 203 will be according to the motor angle speed omega of input, dq shaft current instruction value Iref_m Feedback dq shaft current Im (m=d, q) (Id, Iq) calculated voltage control instructions value Vref_ma (m=of (m=d, q), two-phase D, q) it is output to adder 205.

Voltage/duty ratio transformation coefficient operational part 204 applies voltage VR according to inverter and calculates the transformation of voltage/duty ratio COEFFICIENT K c.

Adder 205 is exported to three-phase duty ratio clamper/VR induction operational part 210 by dq axis dead area compensation value DT_m (m= D, q) with voltage control instructions value Vref_ma (m=d, q) be added obtained from voltage control instructions value Vref_mb (m= D, q).

Dq axis duty ratio clamper/VR (inverter application voltage) incudes operational part 210 and exports to space vector modulation portion 250 Dq axis obtained from voltage control instructions value Vref_mb (m=d, q) is multiplied with voltage/duty ratio transformation transformation coefficient Kc It is regular to use duty instruction value D1m (m=d, q) (Duty_d, Duty_q).

[electrical angle interpolation portion 240]

Fig. 5 is the structure chart in electrical angle interpolation portion 240.

Electrical angle interpolation portion 240 calculates interpolation duty ratio operation motor angle according to the motor angle, θ e of input (interpolation electrical angle) θ s, and it is output to space vector modulation portion 250 (electrical angle interpolation process).

Electrical angle interpolation portion 240 passes through for the secondary of the motor angle, θ e detected in control 250 μ s (Tc) of period Function interpolation operation (Second Order Hold (second order holding) operation, below sometimes by quadratic function interpolation operation simply Referred to as " SOH operation "), it estimates from control motor angle (interpolation electrical angle) θ s after Tc/2 of cycle T c, and according to pushing away Motor angle (interpolation electrical angle) the θ s made calculates interpolation duty instruction value.

In the dq shaft current control that electrical angle interpolation portion 240 carries out, the duty ratio after space vector modulation is not instructed Value is set as interpolation object.This is because comprising by there are the dead zones of transient change in duty instruction value after space vector modulation Noise contribution caused by distortion components of offset, the triple-frequency harmonics generated by space vector modulation etc. instructs duty ratio Value carries out direct interpolation and calculated interpolation duty instruction value becomes the value comprising big noise.

As shown in figure 5, electrical angle interpolation portion 240 has: arithmetic processing section 241 (SOH operational part 241-1 and overturning (rollover) processing unit 241-2), input motor angle, θ e directly carries out SOH operation；Arithmetic processing section with offset 242, motor angle, θ e is inputted to carry out migration processing etc., and carries out SOH operation；Motor angle switch judgement part 243, It determines that motor angle, θ e belongs to which of the range than 90 ° greatly and for 270 ° of ranges below and in addition to this model It encloses, and exports switching mark SF；Switching part 244 is switched over according to switching mark SF docking point a, b, exports interpolation duty Than operation motor angle (interpolation electrical angle) θ s.

Fig. 6 is indicated from control cycle T c after Tc/2, passes through the calculated interpolation electrical angle of SOH operation.Using former The motor electrical angle θ e detected calculates interpolation electrical angle θ s, thus it enables that the variation of electrical angle is smoothened.

As shown in (A) of Fig. 6, for the ideal motor angle waves shape of arc-shaped, the sample waveform of every 250 μ s certainly at For the staircase waveform of 250 μ s, as shown in 6 (B) of figure, motor angle after 125 μ s are estimated by SOH operation, thus, it is possible to The sampling period is set to be equivalent to 2 times.

Function y [k] used in SOH operation is indicated by formula 1.Y [k] is the expression motor for controlling periodicity k The function of angle (electrical angle).

[mathematical expression 1]

Y [k]=ak²+ bk+c ... (formula 1)

As coefficient of utilization a, b, c, the value of upper last time is indicated with y [- 2], is indicated with the value of y [- 1] expression last time, with y [0] When this value, formula 2 is set up.

[mathematical expression 2]

Formula more than arrangement indicates a, b, c as formula 3 using y [0], y [- 1], y [- 2].

[mathematical expression 3]

When formula 3 is updated to formula 1, become formula 4.

[mathematical expression 4]

Y [k]=ak²+ bk+c=((k²+3k+2)/2)y[0]+((-2k²-4k)/2)y[-1]+((k²+k)/2)y[-2]

... (formula 4)

Interpolation electrical angle θ s1 be from electrical angle of the control cycle T c after Tc/2, therefore can be by by k=0.5 generation Enter to formula 4 and calculates.

[mathematical expression 5]

Y [0.5]=(15y [0] -10y [- 1]+3y [- 2]/8 ... (formula 5)

Fig. 7 is the functional structure chart of SOH operational part 241-1 (242-4).

The holding unit 245-1 and holding unit 245-2 of upper sub-value of the SOH operational part 241-1 with motor angle, θ e, Coefficient portion B0 (245-3), coefficient portion B1 (245-4), coefficient portion B2 (245-5), adder 245-6, adder 245-7.

Motor angle, θ e is input to coefficient portion B0 (245-3) and holding unit 245-1, by holding unit 245-1's Retention value is input to coefficient portion B1 (245-4) and holding unit 245-2.The retention value of holding unit 245-2 is input to coefficient Portion B2 (245-5) passes through each output valve of coefficient portion B0 (245-3), coefficient portion B1 (245-4) and coefficient portion B2 (245-5) Adder 245-7 is exported after being added with adder 245-6 as interpolation electrical angle θ s.

By formula 5, calculate as shown in Figure 7 calculate interpolation electrical angle θ s when coefficient B 0, B1, B2.

As shown in figure 5, the arithmetic processing section 241 in electrical angle interpolation portion 240 has input motor angle, θ e to carry out The SOH operational part 241-1 of SOH operation and overturning processing is carried out to the motor angle, θ e1 exported from SOH operational part 241-1 The overturning processing unit 241-2 of (waveform processing).Overturning treated motor angle will be carried out by overturning processing unit 241-2 (the 1st interpolation motor angle) θ e2 is input to the contact a of switching part 244.

As shown in figure 5, the arithmetic processing section 242 with offset has: adder 242-2 inputs motor angle, θ e, base In 180 ° of progress migration processings of the coefficient inputted from fixed part 242-1；Processing unit 242-3 is overturn, to defeated from adder 242-2 The motor angle, θ e3 entered carries out overturning processing (waveform processing)；SOH operational part 242-4, to from overturning processing unit 242-3 The motor angle, θ e4 of input is modified；Subtraction portion 242-6 inputs motor angle, θ e5 from SOH operational part 242-4, And offset return processing is carried out based on 180 ° of the coefficient inputted from fixed part 242-5；Processing unit 242-7 is overturn, to from subtraction The motor angle, θ e6 of portion 242-6 input carries out overturning processing (waveform processing).It will be turned over by overturning processing unit 242-7 Turn that treated motor angle (the 2nd interpolation motor angle) θ e7 be input to the contact b of switching part 244.

The motor angle, θ e2 of overturning processing unit 241-2 from arithmetic processing section 241 is input to switching part 244 Contact a, the motor angle, θ e7 of the overturning processing unit 242-7 of the arithmetic processing section 242 of included offset is input to switching part in the future 244 contact b.Then, according to the switching mark SF (" H ", " L ") from motor angle switch judgement part 243 to switching part 244 contact a and b is switched over, and exports interpolation duty ratio operation motor angle (interpolation electrical angle) θ from switching part 244 s。

Motor angle (electrical angle) θ e is when being transferred to next motor angle from current motor angle, super 0 ° is returned in the case where crossing 360 °.Generate transitional angles shifts at this time, thus when use current motor angle into When row SOH operation, correct interpolation operation result will not be become sometimes.In order to avoid the problem, 240 basis of electrical angle interpolation portion The motor angle, θ e of electrical angle is inputted come (operation of interpolation duty ratio is switched over motor angle, θ s) to operation output.

In the range of motor angle, θ e is 90 ° of e≤270 ° θ <, there is no transitional angle in motor angle, θ e It changes.Therefore, electrical angle interpolation portion 240 carries out SOH operation for the motor angle, θ e of input.

On the other hand, in the range of motor angle, θ e is e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, motor angle It spends and there are transitional angles shifts in θ e.Therefore, electrical angle interpolation portion 240 carries out at 180 ° of offsets motor angle, θ e Reason carries out SOH operation after becoming continuous angle signal, carries out 180 ° partially for the interpolation operation result after SOH operation Move return processing.

Motor angle switch judgement part 243 according to input motor angle, θ e generate switching mark SF (90 ° of < θ e≤ At 270 ° " H ", when e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ < " L ").

Switching part 244 selects according to switching mark SF and exports the interpolation duty ratio operation motor angle after SOH operation Spend (interpolation electrical angle) θ s.

That is, controlling switching part 244 as formula 6, output motor angle, θ e2 is as slotting at 90 ° of e≤270 ° θ < Mend duty ratio operation motor angle, θ s.

[mathematical expression 6]

SF=H (90 ° of < θ_e≤ 270 °) ... (formula 6)

In addition, controlling switching part 244 as formula 7 at e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, export electronic Machine angle, θ e7 is as interpolation duty ratio operation motor angle, θ s.

[mathematical expression 7]

(0 °≤θ of SF=L_e≤ 90 ° or 270 ° of < θ_e≤ 360 °) ... (formula 7)

Fig. 8 is the control flow chart in electrical angle interpolation portion 240.

Motor angle (electrical angle) θ e (step S1) is inputted to electrical angle interpolation portion 240.

The SOH operational part 241-1 of arithmetic processing section 241 carries out SOH operation (step S10).Motor angle, θ e is in next time SOH operation in used as upper sub-value, therefore be input into holding unit 245-1.In addition, having been enter into holding unit The upper sub-value of 245-1 uses in the SOH operation of next time as upper sub-value, therefore is input into holding unit 245-2.

Overturning processing unit 241-2 carries out overturning processing to the motor angle, θ e1 after carrying out SOH operation and carrys out output motor Angle, θ e2 (step S11).

The adder 242-2 of arithmetic processing section 242 with offset uses 180 ° of coefficient inputted from fixed part 242-1, right Motor angle (electrical angle) θ e carries out migration processing (step S20).

It is electronic to export that overturning processing unit 242-3 carries out overturning processing to the motor angle, θ e3 after carrying out migration processing Machine angle, θ e4 (step S21).

SOH operational part 242-4 carries out SOH operation (step S22) to the motor angle, θ e4 of input.Motor angle, θ e It is used in the SOH operation of next time as upper sub-value, therefore is input into holding unit 245-1.In addition, having been enter into holding The upper sub-value of unit 245-1 uses in the SOH operation of next time as upper sub-value, therefore is input into holding unit 245- 2。

Motor angle, θ e5 after progress SOH operation is input to subtraction portion 242-6, by inputting from fixed part 242-5 180 ° of coefficient carry out offset return processing (step S23).

By overturning processing unit 242-7 to carry out offset return to that treated motor angle, θ e6 carry out overturning processing come Output motor angle, θ e7 (step S24).

The judgement motor angle, θ e of motor angle switch judgement part 243 is greater than 90 ° and is 270 ° or less of situation (step S2)。

In the case where meeting the condition (the case where "Yes"), motor angle switch judgement part 243 is by switching mark SF It is set as " H ".

In the case where not meeting above-mentioned condition (in the case where "No"), motor angle, θ e is 0 ° or more and 90 ° or less Or greater than 270 ° and for 360 ° hereinafter, switching mark SF is set as " L " (step S3) by motor angle switch judgement part 243.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " H ", switching part 244 is selected θ e2 is selected, is exported as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.Sentence from the switching of motor angle In the case where determining the switching mark SF that portion 243 inputs for " L ", switching part 244 selects θ e7, as interpolation duty ratio operation electricity consumption Motivation angle (interpolation electrical angle) θ s and export (step S4 or step S5).

Fig. 9 indicates that each portion's waveform in electrical angle interpolation portion 240, horizontal axis are time [sec], and the longitudinal axis is carried out by MPU etc. The intrinsic value of processing is 64 [dec]/1 [deg].In addition, 23040 [dec]=360 [deg].

(A) of Fig. 9 is the waveform example of the motor angle, θ e2 exported from arithmetic processing section 241, and (B) of Fig. 9 is from band-offset The waveform example for the motor angle, θ e7 that the arithmetic processing section 242 of shifting exports.In addition, (C) of Fig. 9 indicates switching mark SF's The switching timing of " H ", " L ", (D) of Fig. 9 indicate that the interpolation duty ratio operation exported from switching part 244 (is inserted with motor angle Mend electrical angle) θ s waveform example.

As shown in (D) of Fig. 9, compared with the waveform shown in (A) of Fig. 9, motor angle that electrical angle interpolation portion 240 exports Degree (interpolation electrical angle) θ s does not have transitional angles shifts when motor angle, θ s is more than 360 ° and returns to 0 °.Motor Angle, θ e noise if linear height is less, the not transitional variation other than being switched to 0 ° of angle change from 360 °, because This can ensure high-precision in the calculating of the interpolation electrical angle carried out based on SOH operation.

[space vector modulation portion 250]

Figure 10 is the functional structure chart in space vector modulation portion 250.

Space vector modulation portion (transformation component) 250 carries out space vector after being transformed to the dimension of duty ratio from the dimension of voltage Transform operation (shift conversion step).Space vector modulation portion 250 has following function: by the regular operation of dq shaft space with accounting for Sky than instruction value D1m (m=d, q) (Duty_d, Duty_q) be transformed to three-phase duty instruction value (Duty_ua, Duty_va, Duty_wa it) is superimposed triple-frequency harmonics, exports duty instruction value Duty_u, Duty_v, Duty_w of three-phase, such as can make The space proposed in Japanese Unexamined Patent Publication 2017-70066 bulletin or International Publication No. 2017/098840 etc. with the applicant to Measure modulator approach.

Space vector modulation portion 250, which has, carries out above-mentioned space vector transformation fortune using motor angle (electrical angle) θ e The space vector modulation portion 250-0 of calculation and the space vector modulation portion that space vector transform operation is carried out using interpolation electrical angle θ s 250-1。

Space vector modulation portion (the first space vector modulation portion) 250-0 is carried out empty using motor angle (electrical angle) θ e Between vector transformation operation, export the duty instruction value Duty_n (n=u, v, w) (Duty_u, Duty_v, Duty_w) of three-phase.

Space vector modulation portion (second space Vector Modulation portion) 250-1 carries out space vector change using interpolation electrical angle θ s Change operation, export three-phase interpolation duty instruction value Duty_n_m1 (n=u, v, w) (Duty_u_m1, Duty_v_m1, Duty_w_m1)。

[final duty ratio operational part 200]

Figure 11 is the functional structure chart of final duty ratio operational part 200.

Final duty ratio operational part 200 is by the regular duty instruction value Duty_n (n from space vector modulation portion 250 =u, v, w) it is input to adder 221.The input of the dutyfactor value after the offset of duty ratio 50% will be added by adder 221 To the limiter 222 of (variable) the limitation duty ratio output of the range 0~100%.Final regular duty is exported from limiter 222 Than instruction value Dn (n=u, v, w).

Interpolation duty instruction value Duty_n_m1 from space vector modulation portion 250 is input to adder 231, it will Dutyfactor value after being added the offset of duty ratio 50% by adder 231 is input to (variable) limit of range 0~100% The limiter 232 of duty ratio output processed.Final interpolation duty instruction value Dnm1 (n=u, v, w) is exported from limiter 232.

Generally, EPS applies voltage from battery (DC+12V) supply motor, therefore can not supply the application in the negative direction (﹣) Voltage.The phase voltage command value of negative direction can not be so supplied, therefore phase current can not be flowed through in a negative direction.In order to cope with this Problem, three-phase deviate dutyfactor value 50% (+6V) and are set as reference voltage, even if thus three-phase is not 0V in three-phase duty ratio Phase current can also become 0A when value 50% (when motor applies voltage+12V).For example, in U phase dutyfactor value 50% (+6V), V In the case where phase dutyfactor value 50% (+6V), W phase dutyfactor value 50% (+6V), becomes U phase 0A, V phase 0A, W phase 0A, be set as In the case where U phase dutyfactor value 60% (+7.2V), V phase dutyfactor value 50% (+6V), W phase dutyfactor value 40% (+4.8V), In Flow through electric current on positive (+) direction in U phase, be set as U phase dutyfactor value 40% (+4.8V), V phase dutyfactor value 50% (+6V), In the case where W phase dutyfactor value 60% (+7.2V), electric current is flowed through in a negative direction in U phase.It is to account for by deviating three-phase Empty ratio 50% is set as reference voltage, and thus, it is possible to flow through the electric current of negative direction in the state of applying voltage and being positive.Separately Outside, dutyfactor value 50% deviates substantially stationary, but reference voltage when dutyfactor value 50% is according to the application voltage shape supplied State and changed.For example, dutyfactor value 50% becomes 5.5V, when applying voltage 13V, duty ratio when applying voltage 11V Value 50% becomes 6.5V.

[duty ratio exports configuration part 160A-1]

Figure 12 is the functional structure chart of duty ratio output configuration part 160A-1.

As shown in figure 12, duty ratio output configuration part (output configuration part) 160A-1 is in control cycle T c and from control week Since phase Tc pass through time T after Tc/2 μ s, according to controlling cycle T c, to the final duty instruction value to be exported Du_o, Dv_o, Dw_o switch over output (output setting process).

Figure 13 expression control period, finally regular duty instruction value Dn's and final interpolation duty instruction value Dnm1 Output timing.

Refer to about the final regular duty instruction value Dn and final interpolation duty ratio calculated in control cycle T c (n) Value Dnm1 is enabled, in the final regular duty instruction value Dn of timing output of 0 μ s of next control period (n+1), later The final interpolation duty instruction value Dnm1 of the timing output of 125 μ s.

Figure 14 is the analog result of simulator, and horizontal axis is time [sec], and the longitudinal axis is in being handled by MPU etc. Portion's value is 64 [dec]/1 [deg].(A) of Figure 14 is the waveform of motor angle (thick line), and being able to confirm that will be by SOH operation Presumption motor angle (filament) operation obtained from calculating the sampled data in 250 μ s periods is the 125 of 250 μ s periods Angle (electrical angle) after μ s.When making presumption motor angle (filament) deviate 125 μ s on transverse axis, become expression motor The angle waveform of the intermediate data of the sampled data in 250 μ s periods of angle (thick line).(B) of Figure 14 is by space vector tune The waveform for making the duty instruction value calculated, the interpolation duty instruction value of presumption motor angle will be applied by being able to confirm that Waveform (thick line) operation be 250 μ s periods 125 μ s after waveform.As waveform (filament) In for making interpolation duty instruction value When deviating 125 μ s on horizontal axis, become the intermediate data for the data in 250 μ s periods for indicating regular duty instruction value (thick line) Duty instruction value waveform.

It is few can not to calculate noise with being influenced by dead area compensation for control device of electric motor 400 according to the present embodiment Interpolation duty instruction value, in the control signal change for controlling PWM than the early period (50 μ s) in period for carrying out PWM operation It is dynamic.The increase of the calculation process amount of microcomputer is slight as a result, and can properly inhibit brushless motor vibration and Sound caused by motor can reduce sound caused by the motor of audible frequency range.

First embodiment of the invention is described in detail above by reference to attached drawing, but specific structure is not limited to the reality Mode is applied, also comprising not departing from the design alteration etc. in the range of spirit of the invention.In addition it is also possible to appropriately combined above-mentioned Embodiment and variation shown in constituent element constitute.

(variation 1)

For example, the vector majorization that the control device of electric motor 400 of above embodiment is driven by using space vector Mode controls motor 100, but it's not limited to that for the control object motor of control device of electric motor.Of the invention is electronic The control object motor of machine control device is for example also possible to the brushless motor of sine wave control mode.Of the invention is electronic Machine control device not with duty instruction value for direct interpolation object, but using motor angle (electrical angle) θ e as interpolation pair As.Motor angle, θ e noise if linear height is less, without transition other than being switched to 0 ° of angle change from 360 ° The variation of property, therefore the energy in the calculating of the interpolation electrical angle carried out by SOH operation and the calculating of interpolation duty instruction value Enough ensure high precision.

(variation 2)

For example, the control device of electric motor 400 of above embodiment is mounted in electric power steering device 300, but electricity The mode of motivation control device is not limited to this.Control device of electric motor of the invention, which is suitble to be mounted in, requires high torque and requirement In the motor drive of low noise.For example, by being mounted in control device of electric motor of the invention to wearer's walking When the muscle strength device of walking aid assisted, in the clearing apparatus that is acted indoors etc., can properly press down Noise caused by the vibration of motor processed and motor can reduce sound caused by the motor of audible frequency range.

(variation 3)

For example, the control cycle T c of the control device of electric motor 400 of above embodiment is 250 μ s (frequency 4KHz), but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention is 100 μ s or more in control cycle T c And 250 below μ s when, can properly reduce sound caused by the motor of audible frequency range.Due to control device of electric motor The performance of CPU mounted etc. improves or the number of poles of control object motor increases, and the PREDICTIVE CONTROL period is shorter than 250 μ s.It is controlling When cycle T c processed is 100 μ s or more and 250 μ s or less, is created the problem that in the same manner as above embodiment and generate audible frequency Sound caused by the motor of rate range, but control device of electric motor according to the present invention, can properly inhibit brushless electric Sound caused by the vibration of machine and motor can reduce sound caused by the motor of audible frequency range.

(second embodiment)

5 to Figure 37 second embodiment of the present invention is illustrated referring to Fig.1.

Figure 15 is the electric power steering device 300B for indicating the control device of electric motor 400B equipped with present embodiment Structure schematic diagram.Electric power steering device 300B is in columnar part (steering shaft) configured with motor and deceleration mechanism Column assist type electric power steering gear.

[electric power steering device 300B]

In electric power steering device 300B, via columnar shaft (steering shaft, steering wheel shaft) 2, reduction gearing of steering wheel 1 3, universal joint 4a, 4b, gear and rack teeth mechanism 5, pull rod 6a, 6b, and connect via hub unit 7a, 7b and steered wheel 8L, 8R Knot.In addition, the steering of the rotation angle sensor 14 and detection direction disk 1 of the rudder angle θ e on columnar shaft 2 equipped with detection direction disk 1 is turned round The torque sensor 10 of square Th, the motor 100 assisted to the steering force of steering wheel 1 is via reduction gearing 3 and columnar shaft 2 Connection.Control unit (ECU) 30 for controlling electric power steering device 300B is powered by battery 13, and via igniting key 11 input igniting key signal of spoon.

Control unit 30 is detected according to the steering torque Th detected by torque sensor 10 and by vehicle speed sensor 12 Vehicle velocity V s operation auxiliary (steering assistance) instruction current instruction value, by performing compensation to the current instruction value calculated Deng voltage control instructions value Vref motor 100 is controlled.Rotation angle sensor 14 it is not necessary to, can be unworthy of It sets, can also obtain rudder angle (motor angle) θ e from rotation sensors such as the angular resolvers linked with motor 100.

Control unit 30 has computer, which mainly includes (Central Processing Unit, the center CPU Processing unit) (comprising MPU (Micro Processor Unit, microprocessing unit), MCU (Micro Controller Unit, Micro-control unit) etc.), and executable program.

Control unit 30 has the electronic electromechanics of the inverter 161 of drive motor 100, the electric current for detecting motor 100 The circuits such as current detection circuit 162, the angle detection 110A of motor angle, θ e for detecting motor 100.In addition, these circuits 100 side of motor can also be mounted in.

CAN (the Controller Area of the various information for transmitting vehicle is connected in control unit 30 Network, controller zone network) 40, additionally it is possible to vehicle velocity V s is received from CAN40.In addition, can also be connected in control unit 30 The non-CAN41 for being used to transmit communication, analog/digital signal, electric wave etc. other than CAN40.

In recent years, motor 100 is the three-phase brushless electricity as the mainstream of the actuator of electric power steering device 300B Motivation.Motor 100 is controlled by using the vector majorization mode of space vector driving.Using space vector driving Vector majorization mode in, independently set as motor 100 rotor reference axis for dominant vector q axis and For controlling the d axis of magnetic field strength, therefore the relationship that dq axis is in 90 ° is equivalent to the electric current (d of each axis by the vector majorization Shaft current instruction value Iref_d, q shaft current instruction value Iref_q).

[control device of electric motor 400B]

Figure 16 is the functional structure chart for the control device of electric motor 400B being made up of control unit 30.It is appropriately combined The electronic circuits such as the program, the inverter that execute in CPU etc. realize the function of control device of electric motor 400B.In the following description The middle function of recording as circuit can also be used as the program that executes in CPU etc. to realize.

The drive control of control device of electric motor 400B progress motor 100.Control device of electric motor 400B has electric current Instruction value operational part 31, motor control part 39B, PWM control unit 160, inverter 161, motor current detection circuit 162, Motor angle detection 110A, angular speed operational part 110B, three-phase alternating current/dq principal axis transformation portion 130.

Current instruction value operational part 31 uses to motor control part 39B output according to steering torque Th and vehicle velocity V s etc. auxiliary The dq shaft current instruction value Iref_m (m=d, q) for 2 axis (dq axis coordinate system) for helping figure etc. to calculate.

Motor control part 39B according to dq shaft current instruction value Iref_m (m=d, q), the motor angle, θ e of input with And motor speed N etc., calculating perform the voltage control instructions value Vref_mb (m=d, q) after dead area compensation.In addition, electronic Machine control unit 39B calculates accounting for for three-phase by space vector modulation according to voltage control instructions value Vref_mb (m=d, q) etc. Sky is exported than instruction value Du_o, Dv_o, Dw_o to PWM control unit 160.

Figure 17 is the structure chart of PWM control unit 160 and inverter 161.

As shown in figure 17, inverter 161 is made of the three-phase bridge of FET, by carrying out according to PWM- dutyfactor value D1~D6 On/off carrys out drive motor 100.Motor switch 101, the motor are inserted between inverter 161 and motor 100 Supply of the switch 101 for the cutting electric current such as when auxiliary control stops.Upper side arm by as FET Q1 of switch element, Q2, Q3 is constituted, and lower side arm is made of FET Q4, Q5, Q6.In addition, FET Q1 and Q4 are the driving elements of U phase, FET Q2 and Q5 are V The driving element of phase, FET Q3 and Q6 are the driving elements of W phase.

As shown in figure 17, PWM control unit 160 is according to duty instruction value Du_o, Dv_o, Dw_o of the three-phase inputted, Via the 161 pairs of motor 100 of inverter (inverter applies voltage VR) being made of shown in Figure 17 the bridge structure of upper lower arm Carry out drive control.As shown in figure 17, PWM control unit 160 has the portion PWM 160A-2 and gate driving portion 160B.

As shown in figure 17, the portion PWM 160A-2 is according to predetermined formula from duty instruction value Du_o, Dv_o, Dw_o of three-phase Calculate separately PWM- dutyfactor value D1~D6 of three-phase.For example, from oscillating portion 160C to the tune of the portion PWM 160A-2 input triangular wave Signal (carrier wave) CF, PWM portion 160A-2 processed and modulated signal CF synchronously calculate PWM- dutyfactor value D1~D6.

As shown in figure 17, gate driving portion 160B exports PWM- dutyfactor value D1~D6 to drive as driving element The grid of FET Q1~Q6.

Electric power steering device 300B is vehicle-mounted product, therefore operating temperature range is wide, goes out from the viewpoint of failure safe Send out drive motor 100 inverter 161 with using household appliances as the general industry equipment of representative compared with, need to keep dead zone big (commercial plant < EPS).Generally, switch element (such as FET (Field-Effect Transistor, field effect transistor Pipe)) when disconnecting, there are delay times, therefore when the off/on switching for the switch element for carrying out upper lower arm simultaneously, sometimes The situation of DC link short circuit occurs.The generation of the situation in order to prevent, switch element equipped with upper lower arm both sides disconnect when Between (dead zone).

In the case where carrying out dead area compensation as described above, current waveform distortion, responsiveness, the steering feeling of current control When deteriorating, such as slowly turning in the state that steering wheel is located at immediate vicinity, torque pulsation (torque is generated sometimes ) etc. ripple discontinuous steering feeling caused by.

As shown in figure 16, current detector 162 detects threephase motor electric current Iu, Iv, Iw of motor 100.It will test Threephase motor electric current Iu, Iv, Iw out is input to three-phase alternating current/dq principal axis transformation portion 130, is transformed to the feedback dq axis electricity of two-phase Flow Id, Iq.Feedback dq shaft current Id, Iq of two-phase is input to motor control part 39B.

Motor angle detection 110A carries out operation when needed to obtain the motor angle, θ e of motor 100.It will Motor angle, θ e is input to angular speed operational part 110B, motor control part 39B and three-phase alternating current/dq principal axis transformation portion 130.

Angular speed operational part 110B obtains motor speed N and motor angle speed according to motor angle, θ e by operation ω.Motor speed N and motor angle speed omega are input to motor control part 39B.

[motor control part 39B]

Figure 18 is the functional structure chart of motor control part 39B.

Motor control part 39B has voltage instruction value operational part 220, electrical angle interpolation portion 240B, space vector modulation Portion 250, final duty ratio operational part 200, duty ratio export configuration part 160A-1.

Voltage instruction value operational part 220 have dq axis dead area compensation value operational part 201, dq shaft current feedback control section 203, Voltage/duty ratio transformation coefficient operational part 204, adder 205, dq axis duty ratio clamper/VR incude operational part 210.

Voltage instruction value operational part 220 uses the motor electrical angle θ obtained from motor 100 in each control cycle T c E and motor speed θ e, current instruction value Iref_m (m=d, q) etc. calculate voltage instruction value (voltage instruction value operation work Sequence).

Dq axis dead area compensation value operational part 201 by according to the motor speed N of input, motor angle (electrical angle) θ e, The calculated dq axis dead area compensation value DT_m (m=d, q) of dq shaft current instruction value Iref_m (m=d, q) is output to adder 205。

Dq shaft current feedback control section 203 will be according to the motor angle speed omega of input, dq shaft current instruction value Iref_m The calculated voltage control instructions value Vref_ma (m=d, q) of feedback dq shaft current Id, Iq of (m=d, q), two-phase, which is output to, to be added Method portion 205.

Voltage/duty ratio transformation coefficient operational part 204 applies voltage VR according to inverter and calculates the transformation of voltage/duty ratio COEFFICIENT K c.

Adder 205 is exported to three-phase duty ratio clamper/VR induction operational part 210 by dq axis dead area compensation value DT_m (m= D, q) with voltage control instructions value Vref_ma (m=d, q) be added obtained from voltage control instructions value Vref_mb (m= D, q).

Dq axis duty ratio clamper/VR (inverter application voltage) incudes operational part 210 and exports to space vector modulation portion 250 Dq axis obtained from voltage control instructions value Vref_mb (m=d, q) is multiplied with voltage/duty ratio transformation transformation coefficient Kc It is regular to use duty instruction value D1m (m=d, q) (Duty_d, Duty_q).

[electrical angle interpolation portion 240B]

Figure 19 is the structure chart of electrical angle interpolation portion 240B.

Electrical angle interpolation portion 240B calculates interpolation duty ratio operation motor angle according to the motor angle, θ e of input (interpolation electrical angle) θ s, and it is output to space vector modulation portion 250 (electrical angle interpolation process).

Electrical angle interpolation portion 240B passes through for the secondary of the motor angle, θ e detected in control 250 μ s (Tc) of period Function interpolation operation (Second Order Hold (second order holding) operation, below sometimes by quadratic function interpolation operation simply Referred to as " SOH operation "), the interval (segmentation is spaced) for controlling 50 μ s after cycle T c is divided into 1/5 is estimated into motor angle (interpolation electrical angle) θ s is spent, and interpolation duty instruction value is calculated according to motor angle (interpolation electrical angle) the θ s deduced.

In the dq shaft current control that electrical angle interpolation portion 240B is carried out, the duty ratio after space vector modulation is not instructed Value is set as interpolation object.This is because comprising by there are the dead zones of transient change in duty instruction value after space vector modulation Noise contribution caused by distortion components of offset, the triple-frequency harmonics generated by space vector modulation etc. instructs duty ratio Value carries out direct interpolation and calculated interpolation duty instruction value becomes the value comprising big noise.

As shown in figure 19, electrical angle interpolation portion 240B has: arithmetic processing section 241 (SOH operational part 241-1 and overturning (rollover) processing unit 241-2), input motor angle, θ e directly carries out SOH operation；Arithmetic processing section with offset 242, motor angle, θ e is inputted to carry out migration processing etc., and carries out SOH operation；Motor angle switch judgement part 243, It determines that motor angle, θ e belongs to which of the range than 90 ° greatly and for 270 ° of ranges below and in addition to this model It encloses, and exports switching mark SF；Switching part 244 is switched over according to switching mark SF docking point a, b, exports interpolation duty Than operation motor angle (interpolation electrical angle) θ s.

Figure 20 to Figure 23 indicates to pass through SOH operation meter will control the interval of 50 μ s obtained from cycle T c is divided into 1/5 The 4 interpolation electrical angles (hereinafter referred to as " interpolation electrical angle 1~4 ") calculated.Use the motor electrical angle θ e detected in the past Interpolation electrical angle 1~4 (s1~4 θ) are calculated, thus it enables that the variation of electrical angle is smoothened.

Function y [k] used in SOH operation is indicated by formula 8.Y [k] is the expression motor for controlling periodicity k The function of angle (electrical angle).

[mathematical expression 8]

Y [k]=ak²+ bk+c ... (formula 8)

As coefficient of utilization a, b, c, the value of upper last time is indicated with y [- 2], is indicated the value of last time with y [- 1], is indicated with y [0] When this value, formula 9 is set up.

[mathematical expression 9]

Formula more than arrangement indicates a, b, c as formula 10 using y [0], y [- 1], y [- 2].

[mathematical expression 10]

When formula 10 is updated to formula 8, become formula 11.

[mathematical expression 11]

Y [k]=ak²+ bk+c=((k²+3k+2)/2)y[0]+((-2k²-4k)/2)y[-1]+((k²+k)/2)y[-2]

... (formula 11)

Since interpolation electrical angle 1 (θ s1) be the electrical angle controlling cycle T c after 50 μ s (Tc is multiplied by 1/5), therefore can It is calculated by the way that k=0.2 is updated to formula 11.

[mathematical expression 12]

Y [0.2]=(33y [0] -11y [- 1]+3y [- 2])/25 ... (formulas 12)

Since interpolation electrical angle 2 (θ s2) be the electrical angle controlling cycle T c after 100 μ s (Tc is multiplied by 2/5), therefore can It is calculated by the way that k=0.4 is updated to formula 11.

[mathematical expression 13]

Y [0.4]=(42y [0] -24y [- 1]+7y [- 2])/25 ... (formulas 13)

Since interpolation electrical angle 3 (θ s3) be the electrical angle controlling cycle T c after 150 μ s (Tc is multiplied by 3/5), therefore can It is calculated by the way that k=0.6 is updated to formula 11.

[mathematical expression 14]

Y [0.6]=(52y [0] -39y [- 1]+12y [- 2])/25 ... (formulas 14)

Since interpolation electrical angle 4 (θ s4) be the electrical angle controlling cycle T c after 200 μ s (Tc is multiplied by 4/5), therefore can It is calculated by the way that k=0.8 is updated to formula 11.

[mathematical expression 15]

Y [0.8]=(63y [0] -56y [- 1]+18y [- 2])/25 ... (formulas 15)

Figure 24 is the functional structure chart of SOH operational part 241-1 (242-4).

The holding unit 245-1 and holding unit 245-2 of upper sub-value of the SOH operational part 241-1 with motor angle, θ e, Coefficient portion B0 (245-3), coefficient portion B1 (245-4), coefficient portion B2 (245-5), adder 245-6, adder 245-7.

Motor angle, θ e is input to coefficient portion B0 (245-3) and holding unit 245-1, by holding unit 245-1's Retention value is input to coefficient portion B1 (245-4) and holding unit 245-2.The retention value of holding unit 245-2 is input to coefficient Portion B2 (245-5) passes through each output valve of coefficient portion B0 (245-3), coefficient portion B1 (245-4) and coefficient portion B2 (245-5) Adder 245-7 is exported after being added with adder 245-6 as interpolation electrical angle θ s.

According to formula 12~15, coefficient B 0 when calculating interpolation electrical angle 1~4 (s1~4 θ), B1, B2 are indicated as was the case with table 1.

[table 1]

As shown in figure 19, the arithmetic processing section 241 in electrical angle interpolation portion 240B have input motor angle, θ e come into The SOH operational part 241-1 of row SOH operation and overturning place is carried out to the motor angle, θ e1 exported from SOH operational part 241-1 Manage the overturning processing unit 241-2 of (waveform processing).Overturning treated motor angle will be carried out by overturning processing unit 241-2 θ e2 is input to the contact a of switching part 244.

As shown in figure 19, the arithmetic processing section 242 with offset has: adder 242-2 inputs motor angle, θ e, Based on 180 ° of progress migration processings of the coefficient inputted from fixed part 242-1；Processing unit 242-3 is overturn, to from adder 242-2 The motor angle, θ e3 of input carries out overturning processing (waveform processing)；SOH operational part 242-4, to from overturning processing unit 242- The motor angle, θ e4 of 3 inputs is modified；Subtraction portion 242-6 inputs motor angle, θ e5 from SOH operational part 242-4, And offset return processing is carried out based on 180 ° of the coefficient inputted from fixed part 242-5；Processing unit 242-7 is overturn, to from subtraction The motor angle, θ e6 of portion 242-6 input carries out overturning processing (waveform processing).It will be turned over by overturning processing unit 242-7 Turning treated, motor angle, θ e7 be input to the contact b of switching part 244.

The motor angle, θ e2 of overturning processing unit 241-2 from arithmetic processing section 241 is input to switching part 244 Contact a, the motor angle, θ e7 of the overturning processing unit 242-7 of the arithmetic processing section 242 of included offset is input to switching part in the future 244 contact b.Then, according to the switching mark SF (" H ", " L ") from motor angle switch judgement part 243 to switching part 244 contact a and b is switched over, and exports interpolation duty ratio operation motor angle (interpolation electrical angle) θ from switching part 244 s。

Motor angle (electrical angle) θ e is when being transferred to next motor angle from current motor angle, super 0 ° is returned in the case where crossing 360 °.Generate transitional angles shifts at this time, thus when use current motor angle into When row SOH operation, correct interpolation operation result will not be become sometimes.In order to avoid the problem, electrical angle interpolation portion 240B root According to the motor angle, θ e of input electrical angle come to operation output, (operation of interpolation duty ratio is switched over motor angle, θ s).

In the range of motor angle, θ e is 90 ° of e≤270 ° θ <, there is no transitional angle in motor angle, θ e It changes.Therefore, electrical angle interpolation portion 240B carries out SOH operation for the motor angle, θ e of input.

On the other hand, in the range of motor angle, θ e is e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, motor angle It spends and there are transitional angles shifts in θ e.Therefore, electrical angle interpolation portion 240B carries out at 180 ° of offsets motor angle, θ e Reason carries out SOH operation after becoming continuous angle signal, carries out 180 ° partially for the interpolation operation result after SOH operation Move return processing.

Motor angle switch judgement part 243 according to input motor angle, θ e generate switching mark SF (90 ° of < θ e≤ At 270 ° " H ", when e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ < " L ").

Switching part 244 selects according to switching mark SF and exports the interpolation duty ratio operation motor angle after SOH operation Spend (interpolation electrical angle) θ s.

That is, at 90 ° of e≤270 ° θ <, control switching part 244 as formula 16, output motor angle, θ e2 as Interpolation duty ratio operation motor angle, θ s.

[mathematical expression 16]

SF=H (90 ° of < θ_e≤ 270 °) ... (formula 16)

In addition, controlling switching part 244 as formula 17 at e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, export electronic Machine angle, θ e7 is as interpolation duty ratio operation motor angle, θ s.

[mathematical expression 17]

(0 °≤θ of SF=L_e≤ 90 ° or 270 ° of < θ_e≤ 360 °) ... (formula 17)

Figure 25 is the control flow chart of electrical angle interpolation portion 240B.

Motor angle (electrical angle) θ e (step S101) is inputted to electrical angle interpolation portion 240B.

The SOH operational part 241-1 of arithmetic processing section 241 carries out SOH operation (step S110).Motor angle, θ e is in next time SOH operation in used as upper sub-value, therefore be input into holding unit 245-1.In addition, having been enter into holding unit The upper sub-value of 245-1 uses in the SOH operation of next time as upper sub-value, therefore is input into holding unit 245-2.

Overturning processing unit 241-2 carries out overturning processing to the motor angle, θ e1 after carrying out SOH operation and carrys out output motor Angle, θ e2 (step S111).

The adder 242-2 of arithmetic processing section 242 with offset uses 180 ° of coefficient inputted from fixed part 242-1, right Motor angle (electrical angle) θ e carries out migration processing (step S120).

It is electronic to export that overturning processing unit 242-3 carries out overturning processing to the motor angle, θ e3 after carrying out migration processing Machine angle, θ e4 (step S121).

SOH operational part 242-4 carries out SOH operation (step S122) to the motor angle, θ e4 of input.Motor angle, θ e It is used in the SOH operation of next time as upper sub-value, therefore is input into holding unit 245-1.In addition, having been enter into holding The upper sub-value of unit 245-1 uses in the SOH operation of next time as upper sub-value, therefore is input into holding unit 245- 2。

Motor angle, θ e5 after progress SOH operation is input to subtraction portion 242-6, by inputting from fixed part 242-5 180 ° of coefficient carry out offset return processing (step S123).

By overturning processing unit 242-7 to carry out offset return to that treated motor angle, θ e6 carry out overturning processing come Output motor angle, θ e7 (step S124).

After the completion of the processing of step S111 and step S124, motor angle switch judgement part 243 determines motor Angle, θ e is greater than 90 ° and is 270 ° or less of situation (step S102).

In the case where meeting the condition (the case where "Yes"), motor angle switch judgement part 243 is by switching mark SF It is set as " H ".

In the case where not meeting above-mentioned condition (in the case where "No"), motor angle, θ e is 0 ° or more and 90 ° or less Or greater than 270 ° and for 360 ° hereinafter, switching mark SF is set as " L " by motor angle switch judgement part 243.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " H ", switching part 244 is selected θ e2 is selected, exports (step S103) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " L ", switching part 244 is selected θ e7 is selected, exports (step S104) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

Electrical angle interpolation portion 240B use coefficient B 0, B1 corresponding with interpolation electrical angle 1~4 (s1~4 θ), B2 is (referring to table 1) SOH operation is carried out, interpolation electrical angle 1~4 (s1~4 θ) are calculated separately.

Figure 26 indicates that each portion's waveform of electrical angle interpolation portion 240B, horizontal axis are time [sec], the longitudinal axis be by MPU etc. into The intrinsic value of row processing is 64 [dec]/1 [deg].In addition, 23040 [dec]=360 [deg].

(A) of Figure 26 is the waveform example of the motor angle, θ e2 exported from arithmetic processing section 241, and (B) of Figure 26 is from band The waveform example for the motor angle, θ e7 that the arithmetic processing section 242 of offset exports.In addition, (C) of Figure 26 indicates switching mark SF's The switching timing of " H ", " L ", (D) of Figure 26 indicate that the interpolation duty ratio operation exported from switching part 244 (is inserted with motor angle Mend electrical angle) θ s waveform example.

As shown in (D) of Figure 26, compared with the waveform shown in (A) of Figure 26, electrical angle interpolation portion 240B output it is electronic Machine angle (interpolation electrical angle) θ s does not have transitional angles shifts when motor angle, θ s is more than 360 ° and returns to 0 °.Electricity Motivation angle, θ e noise if linear height is less, the not transitional change other than being switched to 0 ° of angle change from 360 ° Change, therefore can ensure high-precision in the calculating of the interpolation electrical angle carried out based on SOH operation.

[space vector modulation portion 250]

Figure 27 is the functional structure chart in space vector modulation portion 250.

Space vector modulation portion (transformation component) 250 carries out space vector after being transformed to the dimension of duty ratio from the dimension of voltage Transform operation (shift conversion step).Space vector modulation portion 250 has following function: by the regular operation of dq shaft space with accounting for Sky than instruction value D1m (m=d, q) (Duty_d, Duty_q) be transformed to three-phase duty instruction value (Duty_ua, Duty_va, Duty_wa it) is superimposed triple-frequency harmonics, exports duty instruction value Duty_u, Duty_v, Duty_w of three-phase, such as can make The space proposed in Japanese Unexamined Patent Publication 2017-70066 bulletin or International Publication No. 2017/098840 etc. with the applicant to Measure modulator approach.

Space vector modulation portion 250, which has, carries out above-mentioned space vector transformation fortune using motor angle (electrical angle) θ e The space vector modulation portion 250-0 of calculation and space vector transform operation is carried out using interpolation electrical angle 1~4 (s1~4 θ) respectively Space vector modulation portion 250-1,250-2,250-3,250-4.

Space vector modulation portion 250-0 carries out space vector transform operation, output using motor angle (electrical angle) θ e Duty instruction value Duty_u, Duty_v, Duty_w of three-phase.

Space vector modulation portion 250-1 carries out space vector transform operation using interpolation electrical angle 1 (θ s1), exports three-phase Interpolation duty instruction value Duty_u_m1, Duty_v_m1, Duty_w_m1.

Space vector modulation portion 250-2 carries out space vector transform operation using interpolation electrical angle 2 (θ s2), exports three-phase Interpolation duty instruction value Duty_u_m2, Duty_v_m2, Duty_w_m2.

Space vector modulation portion 250-3 carries out space vector transform operation using interpolation electrical angle 3 (θ s3), exports three-phase Interpolation duty instruction value Duty_u_m3, Duty_v_m3, Duty_w_m3.

Space vector modulation portion 250-4 carries out space vector transform operation using interpolation electrical angle 4 (θ s4), exports three-phase Interpolation duty instruction value Duty_u_m4, Duty_v_m4, Duty_w_m4.

[final duty ratio operational part 200]

Figure 28 is the functional structure chart of final duty ratio operational part 200.

Final duty ratio operational part 200 is by the regular duty instruction value Duty_n (n from space vector modulation portion 250 =u, v, w) it is input to adder 221.The input of the dutyfactor value after the offset of duty ratio 50% will be added by adder 221 To the limiter 222 of (variable) the limitation duty ratio output of the range 0~100%.Final regular duty is exported from limiter 222 Than instruction value Dn (n=u, v, w).

Interpolation duty instruction value Duty_n_m1 from space vector modulation portion 250 is input to adder 231, it will Dutyfactor value after being added the offset of duty ratio 50% by adder 231 is input to (variable) limit of range 0~100% The limiter 232 of duty ratio output processed.Final interpolation duty instruction value Dnm1 (n=u, v, w) is exported from limiter 232.

Interpolation duty instruction value Duty_n_m2, Duty_n_m3, Duty_n_m4 from space vector modulation portion 250 Progress is similarly handled with interpolation duty instruction value Duty_n_m1, exports final interpolation duty instruction value from limiter 232 Dnm2, Dnm3, Dnm4 (n=u, v, w).

Generally, EPS applies voltage from battery (DC+12V) supply motor, therefore can not supply the application in the negative direction (﹣) Voltage.The phase voltage command value of negative direction can not be so supplied, therefore phase current can not be flowed through in a negative direction.In order to cope with this Problem, three-phase deviate dutyfactor value 50% (+6V) and are set as reference voltage, even if thus three-phase is not 0V in three-phase duty ratio Phase current can also become 0A when value 50% (when motor applies voltage+12V).For example, in U phase dutyfactor value 50% (+6V), V In the case where phase dutyfactor value 50% (+6V), W phase dutyfactor value 50% (+6V), becomes U phase 0A, V phase 0A, W phase 0A, be set as In the case where U phase dutyfactor value 60% (+7.2V), V phase dutyfactor value 50% (+6V), W phase dutyfactor value 40% (+4.8V), In Flow through electric current on positive (+) direction in U phase, be set as U phase dutyfactor value 40% (+4.8V), V phase dutyfactor value 50% (+6V), In the case where W phase dutyfactor value 60% (+7.2V), electric current is flowed through in a negative direction in U phase.It is to account for by deviating three-phase Empty ratio 50% is set as reference voltage, and thus, it is possible to flow through the electric current of negative direction in the state of applying voltage and being positive.Separately Outside, dutyfactor value 50% deviates substantially stationary, but reference voltage when dutyfactor value 50% is according to the application voltage shape supplied State and changed.For example, dutyfactor value 50% becomes 5.5V, when applying voltage 13V, duty ratio when applying voltage 11V Value 50% becomes 6.5V.

[duty ratio exports configuration part 160A-1]

Figure 29 is the functional structure chart of duty ratio output configuration part 160A-1.

As shown in figure 29, duty ratio, which exports configuration part (output configuration part) 160A-1 and will control cycle T c, is divided into 1/5 The interval (segmentation interval) of 50 μ s afterwards is consistent ground, final to what is exported according to the process time T since control cycle T c Duty instruction value Du_o, Dv_o, Dw_o switch over output (output setting process).

Figure 30 to Figure 33 is in the condition turned in such a way that motor speed becomes constant rotational speed (1200rpm) Under, estimate the analog result of interpolation electrical angle 1~4 (s1~4 θ) [deg].No matter in which result, interpolation electrical angle 1~ 4, with to the line overlap after motor electrical angle θ e progress linear interpolation, are able to confirm that high-precision and have properly carried out based on SOH The presumption angle operation of operation.

Figure 34 to Figure 37 is used in indicates that the simulation of result deduces slotting under the same conditions with Figure 30 into Figure 33 The analog waveform of duty instruction value (U phase) Du_m1~Du_m4 mending electrical angle 1~4 (s1~4 θ) and calculating.Horizontal axis is Time [sec], the longitudinal axis are the intrinsic values handled by MPU etc., are 8192 [dec]/100 [%].No matter in which result In, interpolation duty instruction value, energy are exported on carrying out the line after linear interpolation to regular duty instruction value Du or nearby Enough confirmation high-precisions and the interpolation for properly having carried out the duty instruction value using interpolation electrical angle.In addition, although V, W phase are not Diagram, but indicate same result.

It is few can not to calculate noise with being influenced by dead area compensation by control device of electric motor 400B according to the present embodiment Interpolation duty instruction value, in the control signal change for controlling PWM than the early period (50 μ s) in period for carrying out PWM operation It is dynamic.The increase of the calculation process amount of microcomputer is slight as a result, and can properly inhibit brushless motor vibration and Sound caused by motor can reduce sound caused by the motor of audible frequency range.

Second embodiment of the present invention is described in detail above by reference to attached drawing, but specific structure is not limited to the reality Mode is applied, also comprising not departing from the design alteration etc. in the range of spirit of the invention.In addition it is also possible to appropriately combined above-mentioned Embodiment and variation shown in constituent element constitute.

(variation 4)

For example, the vector majorization that the control device of electric motor 400 of above embodiment is driven by using space vector Mode controls motor 100, but the control object motor of control device of electric motor is not limited to this.Motor of the invention The control object motor of control device is for example also possible to the brushless motor of sine wave control mode.Motor of the invention Control device not with duty instruction value for direct interpolation object, but using motor angle (electrical angle) θ e as interpolation pair As.Motor angle, θ e noise if linear height is less, without transition other than being switched to 0 ° of angle change from 360 ° The variation of property, therefore the energy in the calculating of the interpolation electrical angle carried out by SOH operation and the calculating of interpolation duty instruction value Enough ensure high precision.

(variation 5)

For example, the control device of electric motor 400B of above embodiment is mounted in electric power steering device 300B, but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention, which is suitble to be mounted in, to be required high torque and wants It asks in the motor drive of low noise.For example, being walked by being mounted in control device of electric motor of the invention to wearer It, can be properly in device of walking aid that muscle strength when row is assisted, the clearing apparatus acted indoors etc. Noise caused by the vibration of inhibition motor and motor, can reduce sound caused by the motor of audible frequency range.

(variation 6)

For example, the control cycle T c of the control device of electric motor 400B of above embodiment is 250 μ s (frequency 4KHz), but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention is 100 μ s or more in control cycle T c And 250 below μ s when, can properly reduce sound caused by the motor of audible frequency range.Due to control device of electric motor The performance of CPU mounted etc. improves or the number of poles of control object motor increases, and the PREDICTIVE CONTROL period is shorter than 250 μ s.It is controlling When cycle T c processed is 100 μ s or more and 250 μ s or less, is created the problem that in the same manner as above embodiment and generate audible frequency Sound caused by the motor of rate range, but control device of electric motor according to the present invention, can properly inhibit brushless electric Sound caused by the vibration of machine and motor can reduce sound caused by the motor of audible frequency range.

(third embodiment)

Referring to Figure 38 to Figure 53, third embodiment of the present invention is illustrated.

Figure 38 is the electric power steering device 300C for indicating the control device of electric motor 400C equipped with present embodiment Structure schematic diagram.Electric power steering device 300C is in columnar part (steering shaft) configured with motor and deceleration mechanism Column assist type electric power steering gear.

[electric power steering device 300C]

In electric power steering device 300C, via columnar shaft (steering shaft, steering wheel shaft) 2, reduction gearing of steering wheel 1 3, universal joint (universal joint) 4a, 4b, gear and rack teeth mechanism 5, pull rod 6a, 6b, and via hub unit 7a, 7b Link with steered wheel 8L, 8R.In addition, rotation angle sensor 14 and the inspection of the rudder angle θ e on columnar shaft 2 equipped with detection direction disk 1 The torque sensor 10 for surveying the steering torque Th of steering wheel 1, for assist steering wheel 1 steering force motor 100 via subtracting Fast gear 3 links with columnar shaft 2.The control unit (ECU) 30 of control electric power steering device 300C is powered by battery 13, and And igniting key signal is inputted via firing key 11.

Control unit 30 is detected according to the steering torque Th detected by torque sensor 10 and by vehicle speed sensor 12 Vehicle velocity V s operation auxiliary (steering assistance) instruction current instruction value, by performing compensation to the current instruction value calculated Deng voltage control instructions value Vref motor 100 is controlled.Rotation angle sensor 14 it is not necessary to, can be unworthy of It sets, can also obtain rudder angle (motor angle) θ e from rotation sensors such as the angular resolvers linked with motor 100.

Control unit 30 has computer, which mainly includes (Central Processing Unit, the center CPU Processing unit) (comprising MPU (Micro Processor Unit, microprocessing unit), MCU (Micro Controller Unit, Micro-control unit) etc.), and executable program.

Control unit 30 has the electronic electromechanics of the inverter 161 of drive motor 100, the electric current for detecting motor 100 The circuits such as current detection circuit 162, the angle detection 110A of motor angle, θ e for detecting motor 100.In addition, these circuits 100 side of motor can also be mounted in.

CAN (the Controller Area of the various information for transmitting vehicle is connected in control unit 30 Network, controller zone network) 40, additionally it is possible to vehicle velocity V s is received from CAN40.In addition, can also be connected in control unit 30 The non-CAN41 for being used to transmit communication, analog/digital signal, electric wave etc. other than CAN40.

In recent years, motor 100 is the three-phase brushless electricity as the mainstream of the actuator of electric power steering device 300C Motivation.Motor 100 is controlled by using the vector majorization mode of space vector driving.Using space vector driving Vector majorization mode in, independently set as motor 100 rotor reference axis for dominant vector q axis and For controlling the d axis of magnetic field strength, therefore the relationship that dq axis is in 90 ° is equivalent to the electric current (d of each axis by the vector majorization Shaft current instruction value Iref_d, q shaft current instruction value Iref_q).

[control device of electric motor 400C]

Figure 39 is the functional structure chart for the control device of electric motor 400C being made up of control unit 30.It is appropriately combined The electronic circuits such as the program, the inverter that execute in CPU etc. realize the function of control device of electric motor 400C.In the following description The middle function of recording as circuit can also be used as the program that executes in CPU etc. to realize.

The drive control of control device of electric motor 400C progress motor 100.Control device of electric motor 400C has electric current Instruction value operational part 31, motor control part 39C, PWM control unit 160, inverter 161, motor current detection circuit 162, Motor angle detection 110A, angular speed operational part 110B, three-phase alternating current/dq principal axis transformation portion 130.

Current instruction value operational part 31 uses to motor control part 39C output according to steering torque Th and vehicle velocity V s etc. auxiliary The dq shaft current instruction value Iref_m (m=d, q) for 2 axis (dq axis coordinate system) for helping figure etc. to calculate.

Motor control part 39C according to dq shaft current instruction value Iref_m (m=d, q), the motor angle, θ e of input with And motor speed N etc., calculating perform the voltage control instructions value Vref_mb (m=d, q) after dead area compensation.In addition, electronic Machine control unit 39C calculates accounting for for three-phase by space vector modulation according to voltage control instructions value Vref_mb (m=d, q) etc. Sky is exported than instruction value Du_o, Dv_o, Dw_o to PWM control unit 160.

Figure 40 is the structure chart of PWM control unit 160 and inverter 161.

As shown in figure 40, inverter 161 is made of the three-phase bridge of FET, by carrying out according to PWM- dutyfactor value D1~D6 On/off carrys out drive motor 100.Motor switch 101, the motor are inserted between inverter 161 and motor 100 Supply of the switch 101 for the cutting electric current such as when auxiliary control stops.Upper side arm by as FET Q1 of switch element, Q2, Q3 is constituted, and lower side arm is made of FET Q4, Q5, Q6.In addition, FET Q1 and Q4 are the driving elements of U phase, FET Q2 and Q5 are V The driving element of phase, FET Q3 and Q6 are the driving elements of W phase.

As shown in figure 40, PWM control unit 160 is according to duty instruction value Du_o, Dv_o, Dw_o of the three-phase inputted, Via the 161 pairs of motor 100 of inverter (inverter applies voltage VR) being made of shown in Figure 40 the bridge structure of upper lower arm Carry out drive control.As shown in figure 40, PWM control unit 160 has the portion PWM 160A-2 and gate driving portion 160B.

As shown in figure 40, the portion PWM 160A-2 is according to predetermined formula from duty instruction value Du_o, Dv_o, Dw_o of three-phase Calculate separately PWM- dutyfactor value D1~D6 of three-phase.For example, from oscillating portion 160C to the tune of the portion PWM 160A-2 input triangular wave Signal (carrier wave) CF, PWM portion 160A-2 processed and modulated signal CF synchronously calculate PWM- dutyfactor value D1~D6.

As shown in figure 40, gate driving portion 160B exports PWM- dutyfactor value D1~D6 to drive as driving element The grid of FET Q1~Q6.

Electric power steering device 300C is vehicle-mounted product, therefore operating temperature range is wide, goes out from the viewpoint of failure safe Send out drive motor 100 inverter 161 with using household appliances as the general industry equipment of representative compared with, need to keep dead zone big (commercial plant < EPS).Generally, switch element (such as FET (Field-Effect Transistor, field effect transistor Pipe)) when disconnecting, there are delay times, therefore when the off/on switching for the switch element for carrying out upper lower arm simultaneously, sometimes The situation of DC link short circuit occurs.The generation of the situation in order to prevent, switch element equipped with upper lower arm both sides disconnect when Between (dead zone).

In the case where carrying out dead area compensation as described above, current waveform distortion, responsiveness, the steering feeling of current control When deteriorating, such as slowly turning in the state that steering wheel is located at immediate vicinity, torque pulsation (torque is generated sometimes ) etc. ripple discontinuous steering feeling caused by.

As shown in figure 39, current detector 162 detects threephase motor electric current Iu, Iv, Iw of motor 100.It will test Threephase motor electric current Iu, Iv, Iw out is input to three-phase alternating current/dq principal axis transformation portion 130, is transformed to the feedback dq axis electricity of two-phase Flow Id, Iq.Feedback dq shaft current Id, Iq of two-phase is input to motor control part 39C.

Motor angle detection 110A carries out operation when needed to obtain the motor angle, θ e of motor 100.It will Motor angle, θ e is input to angular speed operational part 110B, motor control part 39C and three-phase alternating current/dq principal axis transformation portion 130.

Angular speed operational part 110B obtains motor speed N and motor angle speed according to motor angle, θ e by operation ω.Motor speed N and motor angle speed omega are input to motor control part 39C.

[motor control part 39C]

Figure 41 is the functional structure chart of motor control part 39C.

Motor control part 39C has voltage instruction value operational part 220, electrical angle interpolation portion 240C, space vector modulation Portion 250, final duty ratio operational part 200, duty ratio export configuration part 160A-1.

Voltage instruction value operational part 220 have dq axis dead area compensation value operational part 201, dq shaft current feedback control section 203, Voltage/duty ratio transformation coefficient operational part 204, adder 205, dq axis duty ratio clamper/VR incude operational part 210.

Voltage instruction value operational part 220 uses the motor electrical angle θ obtained from motor 100 in each control cycle T c E and motor speed θ e, current instruction value Iref_m (m=d, q) etc. calculate voltage instruction value (voltage instruction value operation work Sequence).

Dq axis dead area compensation value operational part 201 by according to the motor speed N of input, motor angle (electrical angle) θ e, The calculated dq axis dead area compensation value DT_m (m=d, q) of dq shaft current instruction value Iref_m (m=d, q) is output to adder 205。

Dq shaft current feedback control section 203 will be according to the motor angle speed omega of input, dq shaft current instruction value Iref_m The calculated voltage control instructions value Vref_ma (m=d, q) of feedback dq shaft current Id, Iq of (m=d, q), two-phase, which is output to, to be added Method portion 205.

Voltage/duty ratio transformation coefficient operational part 204 applies voltage VR according to inverter and calculates the transformation of voltage/duty ratio COEFFICIENT K c.

Adder 205 is exported to three-phase duty ratio clamper/VR induction operational part 210 by dq axis dead area compensation value DT_m (m= D, q) with voltage control instructions value Vref_ma (m=d, q) be added obtained from voltage control instructions value Vref_mb (m= D, q).

Dq axis duty ratio clamper/VR (inverter application voltage) incudes operational part 210 and exports to space vector modulation portion 250 Dq axis obtained from voltage control instructions value Vref_mb (m=d, q) is multiplied with voltage/duty ratio transformation transformation coefficient Kc It is regular to use duty instruction value D1m (m=d, q) (Duty_d, Duty_q).

[electrical angle interpolation portion 240C]

Figure 42 is the structure chart of electrical angle interpolation portion 240C.

Electrical angle interpolation portion 240C calculates interpolation duty ratio operation motor angle according to the motor angle, θ e of input (interpolation electrical angle) θ s, and it is output to space vector modulation portion 250 (electrical angle interpolation process).

Electrical angle interpolation portion 240C passes through for the primary of the motor angle, θ e detected in control 250 μ s (Tc) of period Function interpolation operation (First Order Hold (single order holding) operation, below sometimes by linear function interpolation operation simply Referred to as " FOH operation "), estimate motor angle (interpolation electrical angle) θ from control cycle T c after Tm μ s (0 < Tm < Tc) S, and interpolation duty instruction value is calculated according to motor angle (interpolation electrical angle) the θ s deduced.

In the dq shaft current control that electrical angle interpolation portion 240C is carried out, the duty ratio after space vector modulation is not instructed Value is set as interpolation object.This is because comprising by there are the dead zones of transient change in duty instruction value after space vector modulation Noise contribution caused by distortion components of offset, the triple-frequency harmonics generated by space vector modulation etc. instructs duty ratio Value carries out direct interpolation and calculated interpolation duty instruction value becomes the value comprising big noise.

As shown in figure 42, electrical angle interpolation portion 240C has: arithmetic processing section 241C (FOH operational part 241C-1 and overturning Processing unit 241-2), input motor angle, θ e directly carries out FOH operation；Arithmetic processing section 242C with offset, input Motor angle, θ e carries out migration processing etc., and carries out FOH operation；Motor angle switch judgement part 243 determines electronic Machine angle, θ e belongs to which of the range than 90 ° greatly and for 270 ° of ranges below and in addition to this range, and outputting cutting Dehorn will SF；Switching part 244 is switched over according to switching mark SF docking point a, b, and output interpolation duty ratio operation is with electronic Machine angle (interpolation electrical angle) θ s.

Figure 43 is indicated from control cycle T c after Tm μ s (0 < Tm < Tc), passes through the calculated interpolation electric angle of FOH operation Degree.Interpolation electrical angle θ s is calculated using the motor electrical angle θ e detected in the past, thus it enables that the variation of electrical angle becomes It obtains smoothly.

Function y [k] used in FOH operation is indicated by formula 18.Y [k] is the expression motor for controlling periodicity k The function of angle (electrical angle).

[mathematical expression 18]

Y [k]=ak+b ... (formula 18)

As coefficient of utilization a, b, with sub-value in y [- 1] expression, when indicating this value with y [0], formula 19 is set up.

[mathematical expression 19]

Formula more than arrangement indicates a, b as formula 20 using y [0], y [- 1].

[mathematical expression 20]

When formula 20 is updated to formula 18, become formula 21.

[mathematical expression 21]

Y [k]=(k+1) y [0]+(- k) y [- 1] ... (formula 21)

Since interpolation electrical angle θ s be the electrical angle controlling cycle T c after Tm, therefore can be by the way that k=Tm/Tc to be updated to Formula 21 calculates.As an example, when being set as control cycle T c=250 [us], Tm=125 [us], it can be by by k=0.5 It is updated to formula 21 and calculates y [k].

[mathematical expression 22]

Y [0.5]=1.5y [0] -0.5y [- 1] ... (formula 22)

In addition, when being set as control cycle T c=250 [us], Tm=150 [us], it can be by the way that k=0.6 be updated to formula 21 calculate y [k].

[mathematical expression 23]

Y [0.6]=1.6y [0] -0.6y [- 1] ... (formula 23)

Figure 44 is the functional structure chart of FOH operational part 241C-1 (242C-4).

The holding unit 245-1 and holding unit 245- of upper sub-value of the FOH operational part 241C-1 with motor angle, θ e 2, coefficient portion B0 (245-3), coefficient portion B1 (245-4), coefficient portion B2 (245-5), adder 245-6, adder 245-7.

Motor angle, θ e is input into coefficient portion B0 (245-3) and holding unit 245-1, the guarantor of holding unit 245-1 It holds value and is input into coefficient portion B1 (245-4).Each output valve of coefficient portion B0 (245-3) and coefficient portion B1 (245-4) are passed through Adder 245-6 is exported after being added as interpolation electrical angle θ s.

According to formula 22~23, coefficient B 0 when calculating interpolation electrical angle θ s, B1 are indicated as table 2.

[table 2]

As shown in figure 42, the arithmetic processing section 241C in electrical angle interpolation portion 240C have input motor angle, θ e come into The FOH operational part 241C-1 of row FOH operation and the motor angle, θ e1 exported from FOH operational part 241C-1 is overturn Handle the overturning processing unit 241-2 of (waveform processing).Overturning treated motor angle will be carried out by overturning processing unit 241-2 Degree θ e2 is input to the contact a of switching part 244.

As shown in figure 42, the arithmetic processing section 242C with offset has: adder 242-2 inputs motor angle, θ e, Based on 180 ° of progress migration processings of the coefficient inputted from fixed part 242-1；Processing unit 242-3 is overturn, to from adder 242-2 The motor angle, θ e3 of input carries out overturning processing (waveform processing)；FOH operational part 242C-4, to from overturning processing unit The motor angle, θ e4 of 242-3 input is modified；Subtraction portion 242-6 inputs motor angle from FOH operational part 242C-4 θ e5 is spent, and carries out offset return processing based on 180 ° of the coefficient inputted from fixed part 242-5；Processing unit 242-7 is overturn, it is right The motor angle, θ e6 inputted from subtraction portion 242-6 carries out overturning processing (waveform processing).It will be by overturning processing unit 242-7 Carry out overturning treated the contact b of motor angle, θ e7 is input to switching part 244.

The motor angle, θ e2 of overturning processing unit 241-2 from arithmetic processing section 241C is input to switching part 244 Contact a, the motor angle, θ e7 of the overturning processing unit 242-7 of the arithmetic processing section 242C of included offset is input to switching in the future The contact b in portion 244.Then, according to the switching mark SF (" H ", " L ") from motor angle switch judgement part 243 to switching The contact a and b in portion 244 are switched over, and export the operation of interpolation duty ratio with motor angle (interpolation electrical angle) from switching part 244 θs。

Motor angle (electrical angle) θ e is when being transferred to next motor angle from current motor angle, super 0 ° is returned in the case where crossing 360 °.Generate transitional angles shifts at this time, thus when use current motor angle into When row FOH operation, correct interpolation operation result will not be become sometimes.In order to avoid the problem, electrical angle interpolation portion 240C root According to the motor angle, θ e of input electrical angle come to operation output, (operation of interpolation duty ratio is switched over motor angle, θ s).

In the range of motor angle, θ e is 90 ° of e≤270 ° θ <, there is no transitional angle in motor angle, θ e It changes.Therefore, electrical angle interpolation portion 240C carries out FOH operation for the motor angle, θ e of input.

On the other hand, in the range of motor angle, θ e is e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, motor angle It spends and there are transitional angles shifts in θ e.Therefore, electrical angle interpolation portion 240C carries out at 180 ° of offsets motor angle, θ e Reason carries out FOH operation after becoming continuous angle signal, and carries out 180 ° for the interpolation operation result after FOH operation Deviate return processing.

Motor angle switch judgement part 243 according to input motor angle, θ e generate switching mark SF (90 ° of < θ e≤ At 270 ° " H ", when e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ < " L ").

Switching part 244 selects according to switching mark SF and exports the interpolation duty ratio operation motor angle after FOH operation Spend (interpolation electrical angle) θ s.

That is, at 90 ° of e≤270 ° θ <, control switching part 244 as formula 24, output motor angle, θ e2 as Interpolation duty ratio operation motor angle, θ s.

[mathematical expression 24]

SF=H (90 ° of < θ_e≤ 270 °) ... (formula 24)

In addition, controlling switching part 244 as formula 25 at e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, export electronic Machine angle, θ e7 is as interpolation duty ratio operation motor angle, θ s.

[mathematical expression 25]

(0 °≤θ of SF=L_e≤ 90 ° or 270 ° of < θ_e≤ 360 °) ... (formula 25)

Figure 45 is the control flow chart of electrical angle interpolation portion 240C.

Motor angle (electrical angle) θ e (step S201) is inputted to electrical angle interpolation portion 240C.

The FOH operational part 241C-1 of arithmetic processing section 241C carries out FOH operation (step S210).Motor angle, θ e is under It is used in secondary FOH operation as upper sub-value, therefore is input into holding unit 245-1.In addition, having been enter into holding unit The upper sub-value of 245-1 uses in the FOH operation of next time as upper sub-value, therefore is input into holding unit 245-2.

Overturning processing unit 241-2 carries out overturning processing to the motor angle, θ e1 after carrying out FOH operation and carrys out output motor Angle, θ e2 (step S211).

The adder 242-2 of arithmetic processing section 242C with offset uses 180 ° of coefficient inputted from fixed part 242-1, right Motor angle (electrical angle) θ e carries out migration processing (step S220).

It is electronic to export that overturning processing unit 242-3 carries out overturning processing to the motor angle, θ e3 after carrying out migration processing Machine angle, θ e4 (step S221).

FOH operational part 242C-4 carries out FOH operation (step S222) to the motor angle, θ e4 of input.Motor angle, θ E is used in the FOH operation of next time as upper sub-value, therefore is input into holding unit 245-1.

Motor angle, θ e5 after progress FOH operation is input to subtraction portion 242-6, by inputting from fixed part 242-5 180 ° of coefficient carry out offset return processing (step S223).

By overturning processing unit 242-7 to carry out offset return to that treated motor angle, θ e6 carry out overturning processing come Output motor angle, θ e7 (step S224).

After the completion of the processing of step S211 and step S224, motor angle switch judgement part 243 determines motor Angle, θ e is greater than 90 ° and is 270 ° or less of situation (step S202).

In the case where meeting the condition (the case where "Yes"), motor angle switch judgement part 243 is by switching mark SF It is set as " H ".

In the case where not meeting above-mentioned condition (in the case where "No"), motor angle, θ e is 0 ° or more and 90 ° or less Or greater than 270 ° and for 360 ° hereinafter, switching mark SF is set as " L " by motor angle switch judgement part 243.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " H ", switching part 244 is selected θ e2 is selected, exports (step S203) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " L ", switching part 244 is selected θ e7 is selected, exports (step S204) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

Figure 46 indicates that each portion's waveform of electrical angle interpolation portion 240C, horizontal axis are time [sec], the longitudinal axis be by MPU etc. into The intrinsic value of row processing is 64 [dec]/1 [deg].In addition, 23040 [dec]=360 [deg].

(A) of Figure 46 be from arithmetic processing section 241C export motor angle, θ e2 waveform example, (B) of Figure 46 be from The waveform example of the motor angle, θ e7 of arithmetic processing section 242C output with offset.In addition, (C) of Figure 46 indicates switching mark (D) of the switching timing of " H " of SF, " L ", Figure 46 indicates the interpolation duty ratio operation motor angle exported from switching part 244 Spend the waveform example of (interpolation electrical angle) θ s.

As shown in (D) of Figure 46, compared with the waveform shown in (A) of Figure 46, electrical angle interpolation portion 240C output it is electronic Machine angle (interpolation electrical angle) θ s does not have transitional angles shifts when motor angle, θ s is more than 360 ° and returns to 0 °.Electricity Motivation angle, θ e noise if linear height is less, the not transitional change other than being switched to 0 ° of angle change from 360 ° Change, therefore can ensure high-precision in the calculating of the interpolation electrical angle carried out based on FOH operation.

[space vector modulation portion 250]

Figure 47 is the functional structure chart in space vector modulation portion 250.

Space vector modulation portion (transformation component) 250 carries out space vector after being transformed to the dimension of duty ratio from the dimension of voltage Transform operation (shift conversion step).Space vector modulation portion 250 has following function: by the regular operation of dq shaft space with accounting for Sky than instruction value D1m (m=d, q) (Duty_d, Duty_q) be transformed to three-phase duty instruction value (Duty_ua, Duty_va, Duty_wa it) is superimposed triple-frequency harmonics, exports duty instruction value Duty_u, Duty_v, Duty_w of three-phase, such as can make The space proposed in Japanese Unexamined Patent Publication 2017-70066 bulletin or International Publication No. 2017/098840 etc. with the applicant to Measure modulator approach.

Space vector modulation portion 250, which has, carries out above-mentioned space vector transformation fortune using motor angle (electrical angle) θ e The space vector modulation portion 250-0 of calculation and the space vector modulation portion that space vector transform operation is carried out using interpolation electrical angle θ s 250-1。

Space vector modulation portion 250-0 carries out space vector transform operation, output using motor angle (electrical angle) θ e The duty instruction value Duty_n (n=u, v, w) (Duty_u, Duty_v, Duty_w) of three-phase.

Space vector modulation portion 250-1 carries out space vector transform operation using interpolation electrical angle θ s, exports inserting for three-phase It mends duty instruction value Duty_n_m1 (n=u, v, w) (Duty_u_m1, Duty_v_m1, Duty_w_m1).

[final duty ratio operational part 200]

Figure 48 is the functional structure chart of final duty ratio operational part 200.

Final duty ratio operational part 200 is by the regular duty instruction value Duty_n (n from space vector modulation portion 250 =u, v, w) it is input to adder 221.The input of the dutyfactor value after the offset of duty ratio 50% will be added by adder 221 To the limiter 222 of (variable) the limitation duty ratio output of the range 0~100%.Final regular duty is exported from limiter 222 Than instruction value Dn (n=u, v, w).

Interpolation duty instruction value Duty_n_m1 from space vector modulation portion 250 is input to adder 231, it will Dutyfactor value after being added the offset of duty ratio 50% by adder 231 is input to (variable) limit of range 0~100% The limiter 232 of duty ratio output processed.Final interpolation duty instruction value Dnm1 (n=u, v, w) is exported from limiter 232.

Generally, EPS applies voltage from battery (DC+12V) supply motor, therefore can not supply the application in the negative direction (﹣) Voltage.The phase voltage command value of negative direction can not be so supplied, therefore phase current can not be flowed through in a negative direction.In order to cope with this Problem, three-phase deviate dutyfactor value 50% (+6V) and are set as reference voltage, even if thus three-phase is not 0V in three-phase duty ratio Phase current can also become 0A when value 50% (when motor applies voltage+12V).For example, in U phase dutyfactor value 50% (+6V), V In the case where phase dutyfactor value 50% (+6V), W phase dutyfactor value 50% (+6V), becomes U phase 0A, V phase 0A, W phase 0A, be set as In the case where U phase dutyfactor value 60% (+7.2V), V phase dutyfactor value 50% (+6V), W phase dutyfactor value 40% (+4.8V), In Flow through electric current on positive (+) direction in U phase, be set as U phase dutyfactor value 40% (+4.8V), V phase dutyfactor value 50% (+6V), In the case where W phase dutyfactor value 60% (+7.2V), electric current is flowed through in a negative direction in U phase.It is to account for by deviating three-phase Empty ratio 50% is set as reference voltage, and thus, it is possible to flow through the electric current of negative direction in the state of applying voltage and being positive.Separately Outside, dutyfactor value 50% deviates substantially stationary, but reference voltage when dutyfactor value 50% is according to the application voltage shape supplied State and changed.For example, dutyfactor value 50% becomes 5.5V, when applying voltage 13V, duty ratio when applying voltage 11V Value 50% becomes 6.5V.

[duty ratio exports configuration part 160A-1]

Figure 49 is the functional structure chart of duty ratio output configuration part 160A-1.

As shown in figure 49, duty ratio output configuration part (output configuration part) 160A-1 is in control cycle T c and from control week Since phase Tc pass through time T after Tm μ s (0 < Tm < Tc), according to controlling cycle T c, final accounts for what is exported Sky switches over output (output setting process) than instruction value Du_o, Dv_o, Dw_o.

Figure 50 and Figure 51 is in the item turned in such a way that motor speed becomes constant rotational speed (2000rpm) Under part, the analog result of interpolation electrical angle θ s [deg] has been estimated.Figure 50 is control cycle T c=250 [μ s], Tm=125 [μ s] Under conditions of analog result.Figure 51 is the analog result controlled under conditions of cycle T c=250 [μ s], Tm=150 [μ s].Nothing By in which result, interpolation electrical angle is able to confirm that height with to the line overlap after motor electrical angle θ e progress linear interpolation Precision and the presumption angle operation based on FOH operation is properly carried out.

Figure 52 and Figure 53 is used in and indicates that the simulation of result deduces under the same conditions in Figure 50 and Figure 51 Interpolation electrical angle θ s and the analog waveform of duty instruction value (U phase) Du_m1~Du_m4 that calculates.No matter in which knot In fruit, interpolation duty instruction value is exported on carrying out the line after linear interpolation to regular duty instruction value Du or nearby, It is able to confirm that high-precision and has properly carried out the interpolation of the duty instruction value using interpolation electrical angle.Although in addition, V, W phase It is not shown, but indicate same result.

It is few can not to calculate noise with being influenced by dead area compensation by control device of electric motor 400C according to the present embodiment Interpolation duty instruction value, in the control signal change for controlling PWM than the early period (50 μ s) in period for carrying out PWM operation It is dynamic.The increase of the calculation process amount of microcomputer is slight as a result, and can properly inhibit brushless motor vibration and Sound caused by motor can reduce sound caused by the motor of audible frequency range.

Control device of electric motor 400C according to the present embodiment is inserted in the operation of interpolation electrical angle using linear function Complementary operation FOH, although precision slightly reduces, can properly press down compared with the interpolation operation of quadratic function interpolation operation etc. The calculation process amount of microcomputer processed.

Third embodiment of the present invention is described in detail above by reference to attached drawing, but specific structure is not limited to the reality Mode is applied, also comprising not departing from the design alteration etc. in the range of spirit of the invention.In addition it is also possible to appropriately combined above-mentioned Embodiment and variation shown in constituent element constitute.

(variation 7)

For example, the vector majorization that the control device of electric motor 400C of above embodiment is driven by using space vector Mode controls motor 100, but the control object motor of control device of electric motor is not limited to this.Motor of the invention The control object motor of control device is for example also possible to the brushless motor of sine wave control mode.Motor of the invention Control device not with duty instruction value for direct interpolation object, but using motor angle (electrical angle) θ e as interpolation pair As.Motor angle, θ e noise if linear height is less, without transition other than being switched to 0 ° of angle change from 360 ° The variation of property, therefore the energy in the calculating of the interpolation electrical angle carried out by FOH operation and the calculating of interpolation duty instruction value Enough ensure high precision.

(variation 8)

For example, the control device of electric motor 400C of above embodiment is mounted in electric power steering device 300C, but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention, which is suitble to be mounted in, to be required high torque and wants It asks in the motor drive of low noise.For example, being walked by being mounted in control device of electric motor of the invention to wearer It, can be properly in device of walking aid that muscle strength when row is assisted, the clearing apparatus acted indoors etc. Noise caused by the vibration of inhibition motor and motor, can reduce sound caused by the motor of audible frequency range.

(variation 9)

For example, the control cycle T c of the control device of electric motor 400C of above embodiment is 250 μ s (frequency 4KHz), but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention is 100 μ s or more in control cycle T c And 250 below μ s when, can properly reduce sound caused by the motor of audible frequency range.Due to control device of electric motor The performance of CPU mounted etc. improves or the number of poles of control object motor increases, and the PREDICTIVE CONTROL period is shorter than 250 μ s.It is controlling When cycle T c processed is 100 μ s or more and 250 μ s or less, is created the problem that in the same manner as above embodiment and generate audible frequency Sound caused by the motor of rate range, but control device of electric motor according to the present invention, can properly inhibit brushless electric Sound caused by the vibration of machine and motor can reduce sound caused by the motor of audible frequency range.

(the 4th embodiment)

Referring to Figure 54 to Figure 76, the 4th embodiment of the invention is illustrated.

Figure 54 is the electric power steering device 300D for indicating the control device of electric motor 400D equipped with present embodiment Structure schematic diagram.Electric power steering device 300D is in columnar part (steering shaft) configured with motor and deceleration mechanism Column assist type electric power steering gear.

[electric power steering device 300D]

In electric power steering device 300D, via columnar shaft (steering shaft, steering wheel shaft) 2, reduction gearing of steering wheel 1 3, universal joint 4a, 4b, gear and rack teeth mechanism 5, pull rod 6a, 6b, and connect via hub unit 7a, 7b and steered wheel 8L, 8R Knot.In addition, the steering of the rotation angle sensor 14 and detection direction disk 1 of the rudder angle θ e on columnar shaft 2 equipped with detection direction disk 1 is turned round The torque sensor 10 of square Th, for assisting the motor 100 of steering force of steering wheel 1 to connect via reduction gearing 3 and columnar shaft 2 Knot.The control unit (ECU) 30 of control electric power steering device 300D is powered by battery 13, and defeated via firing key 11 Enter key signal of lighting a fire.

Control unit 30 is detected according to the steering torque Th detected by torque sensor 10 and by vehicle speed sensor 12 Vehicle velocity V s operation auxiliary (steering assistance) instruction current instruction value, by performing compensation to the current instruction value calculated Deng voltage control instructions value Vref motor 100 is controlled.Rotation angle sensor 14 it is not necessary to, can be unworthy of It sets, can also obtain rudder angle (motor angle) θ e from rotation sensors such as the angular resolvers linked with motor 100.

Control unit 30 has computer, which mainly includes (Central Processing Unit, the center CPU Processing unit) (comprising MPU (Micro Processor Unit, microprocessing unit), MCU (Micro Controller Unit, Micro-control unit) etc.), and executable program.

Control unit 30 has the electronic electromechanics of the inverter 161 of drive motor 100, the electric current for detecting motor 100 The circuits such as current detection circuit 162, the angle detection 110A of motor angle, θ e for detecting motor 100.In addition, these circuits 100 side of motor can also be mounted in.

CAN (the Controller Area of the various information for transmitting vehicle is connected in control unit 30 Network, controller zone network) 40, additionally it is possible to vehicle velocity V s is received from CAN40.In addition, can also be connected in control unit 30 The non-CAN41 for being used to transmit communication, analog/digital signal, electric wave etc. other than CAN40.

In recent years, motor 100 is the three-phase brushless electricity as the mainstream of the actuator of electric power steering device 300D Motivation.Motor 100 is controlled by using the vector majorization mode of space vector driving.Using space vector driving Vector majorization mode in, independently set as motor 100 rotor reference axis for dominant vector q axis and For controlling the d axis of magnetic field strength, therefore the relationship that dq axis is in 90 ° is equivalent to the electric current (d of each axis by the vector majorization Shaft current instruction value Iref_d, q shaft current instruction value Iref_q).

[control device of electric motor 400D]

Figure 55 is the functional structure chart for the control device of electric motor 400D being made up of control unit 30.It is appropriately combined The electronic circuits such as the program, the inverter that execute in CPU etc. realize the function of control device of electric motor 400D.In the following description The middle function of recording as circuit can also be used as the program that executes in CPU etc. to realize.

The drive control of control device of electric motor 400D progress motor 100.Control device of electric motor 400D has electric current Instruction value operational part 31, motor control part 39D, PWM control unit 160, inverter 161, motor current detection circuit 162, Motor angle detection 110A, angular speed operational part 110B, three-phase alternating current/dq principal axis transformation portion 130.

Current instruction value operational part 31 uses to motor control part 39D output according to steering torque Th and vehicle velocity V s etc. auxiliary The dq shaft current instruction value Iref_m (m=d, q) for 2 axis (dq axis coordinate system) for helping figure etc. to calculate.

Motor control part 39D according to dq shaft current instruction value Iref_m (m=d, q), the motor angle, θ e of input with And motor speed N etc., calculating perform the voltage control instructions value Vref_mb (m=d, q) after dead area compensation.In addition, electronic Machine control unit 39D calculates accounting for for three-phase by space vector modulation according to voltage control instructions value Vref_mb (m=d, q) etc. Sky is exported than instruction value Du_o, Dv_o, Dw_o to PWM control unit 160.

Figure 56 is the structure chart of PWM control unit 160 and inverter 161.

As shown in figure 56, inverter 161 is made of the three-phase bridge of FET, by carrying out according to PWM- dutyfactor value D1~D6 On/off carrys out drive motor 100.Motor switch 101, the motor are inserted between inverter 161 and motor 100 Supply of the switch 101 for the cutting electric current such as when auxiliary control stops.Upper side arm by as FET Q1 of switch element, Q2, Q3 is constituted, and lower side arm is made of FET Q4, Q5, Q6.In addition, FET Q1 and Q4 are the driving elements of U phase, FET Q2 and Q5 are V The driving element of phase, FET Q3 and Q6 are the driving elements of W phase.

As shown in figure 56, PWM control unit 160 is according to duty instruction value Du_o, Dv_o, Dw_o of the three-phase inputted, Via the 161 pairs of motor 100 of inverter (inverter applies voltage VR) being made of shown in Figure 56 the bridge structure of upper lower arm Carry out drive control.As shown in figure 56, PWM control unit 160 has the portion PWM 160A-2 and gate driving portion 160B.

As shown in figure 56, the portion PWM 160A-2 is according to predetermined formula from duty instruction value Du_o, Dv_o, Dw_o of three-phase Calculate separately PWM- dutyfactor value D1~D6 of three-phase.For example, from oscillating portion 160C to the tune of the portion PWM 160A-2 input triangular wave Signal (carrier wave) CF, PWM portion 160A-2 processed and modulated signal CF synchronously calculate PWM- dutyfactor value D1~D6.

As shown in figure 56, gate driving portion 160B exports PWM- dutyfactor value D1~D6 to drive as driving element The grid of FET Q1~Q6.

Electric power steering device 300D is vehicle-mounted product, therefore operating temperature range is wide, goes out from the viewpoint of failure safe Send out drive motor 100 inverter 161 with using household appliances as the general industry equipment of representative compared with, need to keep dead zone big (commercial plant < EPS).Generally, switch element (such as FET (Field-Effect Transistor, field effect transistor Pipe)) when disconnecting, there are delay times, therefore when the off/on switching for the switch element for carrying out upper lower arm simultaneously, sometimes The situation of DC link short circuit occurs.The generation of the situation in order to prevent, switch element equipped with upper lower arm both sides disconnect when Between (dead zone).

In the case where carrying out dead area compensation as described above, current waveform distortion, responsiveness, the steering feeling of current control When deteriorating, such as slowly turning in the state that steering wheel is located at immediate vicinity, torque pulsation (torque is generated sometimes ) etc. ripple discontinuous steering feeling caused by.

As shown in figure 55, current detector 162 detects threephase motor electric current Iu, Iv, Iw of motor 100.It will test Threephase motor electric current Iu, Iv, Iw out is input to three-phase alternating current/dq principal axis transformation portion 130, is transformed to the feedback dq axis electricity of two-phase Flow Id, Iq.Feedback dq shaft current Id, Iq of two-phase is input to motor control part 39D.

Motor angle detection 110A carries out operation when needed to obtain the motor angle, θ e of motor 100.It will Motor angle, θ e is input to angular speed operational part 110B, motor control part 39D and three-phase alternating current/dq principal axis transformation portion 130.

Angular speed operational part 110B obtains motor speed N and motor angle speed according to motor angle, θ e by operation ω.Motor speed N and motor angle speed omega are input to motor control part 39D.

[motor control part 39D]

Figure 57 is the functional structure chart of motor control part 39D.

Motor control part 39D has voltage instruction value operational part 220, electrical angle interpolation portion 240D, space vector modulation Portion 250, final duty ratio operational part 200, duty ratio export configuration part 160A-1.

Voltage instruction value operational part 220 have dq axis dead area compensation value operational part 201, dq shaft current feedback control section 203, Voltage/duty ratio transformation coefficient operational part 204, adder 205, dq axis duty ratio clamper/VR incude operational part 210.

Voltage instruction value operational part 220 uses the motor electrical angle θ obtained from motor 100 in each control cycle T c E and motor speed θ e, current instruction value Iref_m (m=d, q) etc. calculate voltage instruction value (voltage instruction value operation work Sequence).

Dq axis dead area compensation value operational part 201 by according to the motor speed N of input, motor angle (electrical angle) θ e, The calculated dq axis dead area compensation value DT_m (m=d, q) of dq shaft current instruction value Iref_m (m=d, q) is output to adder 205。

Dq shaft current feedback control section 203 will be according to the motor angle speed omega of input, dq shaft current instruction value Iref_m The calculated voltage control instructions value Vref_ma (m=d, q) of feedback dq shaft current Id, Iq of (m=d, q), two-phase, which is output to, to be added Method portion 205.

Voltage/duty ratio transformation coefficient operational part 204 applies voltage VR according to inverter and calculates the transformation of voltage/duty ratio COEFFICIENT K c.

Adder 205 is exported to three-phase duty ratio clamper/VR induction operational part 210 by dq axis dead area compensation value DT_m (m= D, q) with voltage control instructions value Vref_ma (m=d, q) be added obtained from voltage control instructions value Vref_mb (m= D, q).

Dq axis duty ratio clamper/VR (inverter application voltage) incudes operational part 210 and exports to space vector modulation portion 250 Dq axis obtained from voltage control instructions value Vref_mb (m=d, q) is multiplied with voltage/duty ratio transformation transformation coefficient Kc It is regular to use duty instruction value D1m (m=d, q) (Duty_d, Duty_q).

[electrical angle interpolation portion 240D]

Figure 58 is the structure chart of electrical angle interpolation portion 240D.

Electrical angle interpolation portion 240D calculates interpolation duty ratio operation motor angle according to the motor angle, θ e of input (interpolation electrical angle) θ s, and it is output to space vector modulation portion 250 (electrical angle interpolation process).

Electrical angle interpolation portion 240D passes through for the primary of the motor angle, θ e detected in control 250 μ s (Tc) of period Function interpolation operation (First Order Hold (single order holding) operation, below sometimes by linear function interpolation operation simply Referred to as " FOH operation "), the interval (segmentation is spaced) for controlling 50 μ s after cycle T c is divided into 1/5 is estimated into motor angle (interpolation electrical angle) θ s is spent, and interpolation duty instruction value is calculated according to motor angle (interpolation electrical angle) the θ s deduced.

In the dq shaft current control that electrical angle interpolation portion 240D is carried out, the duty ratio after space vector modulation is not instructed Value is set as interpolation object.This is because comprising by there are the dead zones of transient change in duty instruction value after space vector modulation Noise contribution caused by distortion components of offset, the triple-frequency harmonics generated by space vector modulation etc. instructs duty ratio Value carries out direct interpolation and calculated interpolation duty instruction value becomes the value comprising big noise.

As shown in figure 58, electrical angle interpolation portion 240D has: arithmetic processing section 241D (FOH operational part 241D-1 and overturning Processing unit 241-2), input motor angle, θ e directly carries out FOH operation；Arithmetic processing section 242D with offset, input Motor angle, θ e carries out migration processing etc., and carries out FOH operation；Motor angle switch judgement part 243 determines electronic Machine angle, θ e belongs to which of the range than 90 ° greatly and for 270 ° of ranges below and in addition to this range, and outputting cutting Dehorn will SF；Switching part 244 is switched over according to switching mark SF docking point a, b, and output interpolation duty ratio operation is with electronic Machine angle (interpolation electrical angle) θ s.

Figure 59 to Figure 62 indicates to calculate will control the interval of 50 μ s after cycle T c is divided into 1/5 by FOH operation 4 interpolation electrical angles (hereinafter referred to as " interpolation electrical angle 1~4 ").It is counted using the motor electrical angle θ e detected in the past It calculates interpolation electrical angle 1~4 (s1~4 θ), so as to keep the variation of electrical angle smoothened.

Function y [k] used in FOH operation is indicated by formula 26.Y [k] is the expression motor for controlling periodicity k The function of angle (electrical angle).

[mathematical expression 26]

Y [k]=ak+b ... (formula 26)

As coefficient of utilization a, b, with sub-value in y [- 1] expression, when indicating this value with y [0], formula 27 is set up.

[mathematical expression 27]

Formula more than arrangement indicates a, b as formula 28 using y [0], y [- 1].

[mathematical expression 28]

When formula 28 is updated to formula 26, become formula 29.

[mathematical expression 29]

Y [k]=(k+1) y [0]+(- k) y [- 1] ... (formula 29)

Since interpolation electrical angle 1 (θ s1) be the electrical angle controlling cycle T c after 50 μ s (Tc is multiplied by 1/5), therefore can It is calculated by the way that k=0.2 is updated to formula 29.

[mathematical expression 30]

Y [0.2]=1.2y [0] -0.2y [- 1] ... (formula 30)

Since interpolation electrical angle 2 (θ s2) be the electrical angle controlling cycle T c after 100 μ s (Tc is multiplied by 2/5), therefore can It is calculated by the way that k=0.4 is updated to formula 29.

[mathematical expression 31]

Y [0.4]=1.4y [0] -0.4y [- 1] ... (formula 31)

Since interpolation electrical angle 3 (θ s3) be the electrical angle controlling cycle T c after 150 μ s (Tc is multiplied by 3/5), therefore can It is calculated by the way that k=0.6 is updated to formula 29.

[mathematical expression 32]

Y [0.6]=1.6y [0] -0.6y [- 1] ... (formula 32)

Since interpolation electrical angle 4 (θ s4) be the electrical angle controlling cycle T c after 200 μ s (Tc is multiplied by 4/5), therefore can It is calculated by the way that k=0.8 is updated to formula 29.

[mathematical expression 33]

Y [0.8]=1.8y [0] -0.8y [- 1] ... (formula 33)

Figure 63 is the functional structure chart of FOH operational part 241D-1 (242D-4).

The holding unit 245-1 and holding unit 245- of upper sub-value of the FOH operational part 241D-1 with motor angle, θ e 2, coefficient portion B0 (245-3), coefficient portion B1 (245-4), coefficient portion B2 (245-5), adder 245-6, adder 245-7.

Motor angle, θ e is input into coefficient portion B0 (245-3) and holding unit 245-1, the guarantor of holding unit 245-1 It holds value and is input into coefficient portion B1 (245-4) and holding unit 245-2.The retention value of holding unit 245-2 is input into coefficient Portion B2 (245-5) passes through each output valve of coefficient portion B0 (245-3), coefficient portion B1 (245-4) and coefficient portion B2 (245-5) Adder 245-7 is exported after being added with adder 245-6 as interpolation electrical angle θ s.

According to formula 30~33, coefficient B 0 when calculating interpolation electrical angle 1~4 (s1~4 θ), B1 are indicated as table 3.

[table 3]

	B0	B1
			Interpolation electrical angle 1 (θ s1)	1.2	-0.2
Interpolation electrical angle 2 (θ s2)	1.4	-0.4
			Interpolation electrical angle 3 (θ s3)	1.6	-0.6
Interpolation electrical angle 4 (θ s4)	1.8	-0.8

As shown in figure 58, the arithmetic processing section 241D in electrical angle interpolation portion 240D have input motor angle, θ e come into The FOH operational part 241D-1 of row FOH operation and the motor angle, θ e1 exported from FOH operational part 241D-1 is overturn Handle the overturning processing unit 241-2 of (waveform processing).Overturning treated motor angle will be carried out by overturning processing unit 241-2 Degree θ e2 is input to the contact a of switching part 244.

As shown in figure 58, the arithmetic processing section 242D with offset has: adder 242-2 inputs motor angle, θ e, Based on 180 ° of progress migration processings of the coefficient inputted from fixed part 242-1；Processing unit 242-3 is overturn, to from adder 242-2 The motor angle, θ e3 of input carries out overturning processing (waveform processing)；FOH operational part 242D-4, to from overturning processing unit The motor angle, θ e4 of 242-3 input is modified；Subtraction portion 242-6 inputs motor angle from FOH operational part 242D-4 θ e5 is spent, and carries out offset return processing based on 180 ° of the coefficient inputted from fixed part 242-5；Processing unit 242-7 is overturn, it is right The motor angle, θ e6 inputted from subtraction portion 242-6 carries out overturning processing (waveform processing).It will be by overturning processing unit 242-7 Carry out overturning treated the contact b of motor angle, θ e7 is input to switching part 244.

The motor angle, θ e2 of overturning processing unit 241-2 from arithmetic processing section 241D is input to switching part 244 Contact a, the motor angle, θ e7 of the overturning processing unit 242-7 of the arithmetic processing section 242D of included offset is input to switching in the future The contact b in portion 244.Then, according to the switching mark SF (" H ", " L ") from motor angle switch judgement part 243 to switching The contact a and b in portion 244 are switched over, and export the operation of interpolation duty ratio with motor angle (interpolation electrical angle) from switching part 244 θs。

Motor angle (electrical angle) θ e is when being transferred to next motor angle from current motor angle, super 0 ° is returned in the case where crossing 360 °.Generate transitional angles shifts at this time, thus when use current motor angle into When row FOH operation, correct interpolation operation result will not be become sometimes.In order to avoid the problem, electrical angle interpolation portion 240D root According to the motor angle, θ e of input electrical angle come to operation output, (operation of interpolation duty ratio is switched over motor angle, θ s).

In the range of motor angle, θ e is 90 ° of e≤270 ° θ <, there is no transitional angle in motor angle, θ e It changes.Therefore, electrical angle interpolation portion 240D carries out FOH operation for the motor angle, θ e of input.

On the other hand, in the range of motor angle, θ e is e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, motor angle It spends and there are transitional angles shifts in θ e.Therefore, electrical angle interpolation portion 240D carries out at 180 ° of offsets motor angle, θ e Reason carries out FOH operation after becoming continuous angle signal, and carries out 180 ° for the interpolation operation result after FOH operation Deviate return processing.

Motor angle switch judgement part 243 according to input motor angle, θ e generate switching mark SF (90 ° of < θ e≤ At 270 ° " H ", when e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ < " L ").

Switching part 244 selects according to switching mark SF and exports the interpolation duty ratio operation motor angle after FOH operation Spend (interpolation electrical angle) θ s.

That is, at 90 ° of e≤270 ° θ <, control switching part 244 as formula 34, output motor angle, θ e2 as Interpolation duty ratio operation motor angle, θ s.

[mathematical expression 34]

SF=H (90 ° of (θ_e≤ 270 °) ... (formula 34)

In addition, controlling switching part 244 as formula 35 at e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, export electronic Machine angle, θ e7 is as interpolation duty ratio operation motor angle, θ s.

[mathematical expression 35]

(0 °≤θ of SF=L_e≤ 90 ° or 270 ° of < θ_e≤ 360 °) ... (formula 35)

Figure 64 is the control flow chart of electrical angle interpolation portion 240D.

Motor angle (electrical angle) θ e (step S301) is inputted to electrical angle interpolation portion 240D.

The FOH operational part 241D-1 of arithmetic processing section 241D carries out FOH operation (step S310).Motor angle, θ e is under It is used in secondary FOH operation as upper sub-value, therefore is input into holding unit 245-1.In addition, having been enter into holding unit The upper sub-value of 245-1 uses in the FOH operation of next time as upper sub-value, therefore is input into holding unit 245-2.

Overturning processing unit 241-2 carries out overturning processing to the motor angle, θ e1 after carrying out FOH operation and carrys out output motor Angle, θ e2 (step S311).

The adder 242-2 of arithmetic processing section 242D with offset uses 180 ° of coefficient inputted from fixed part 242-1, right Motor angle (electrical angle) θ e carries out migration processing (step S320).

It is electronic to export that overturning processing unit 242-3 carries out overturning processing to the motor angle, θ e3 after carrying out migration processing Machine angle, θ e4 (step S321).

FOH operational part 242D-4 carries out FOH operation (step S322) to the motor angle, θ e4 of input.Motor angle, θ E is used in the FOH operation of next time as upper sub-value, therefore is input into holding unit 245-1.In addition, having been enter into guarantor The upper sub-value for holding unit 245-1 uses in the FOH operation of next time as upper sub-value, therefore is input into holding unit 245-2。

Motor angle, θ e5 after progress FOH operation is input to subtraction portion 242-6, by inputting from fixed part 242-5 180 ° of coefficient carry out offset return processing (step S323).

By overturning processing unit 242-7 to carry out offset return to that treated motor angle, θ e6 carry out overturning processing come Output motor angle, θ e7 (step S324).

After the completion of the processing of step S311 and step S324, motor angle switch judgement part 243 determines motor angle Spend the situation (step S302) that θ e is greater than 90 ° and is 270 ° or less.

In the case where meeting the condition (the case where "Yes"), motor angle switch judgement part 243 is by switching mark SF It is set as " H ".

In the case where not meeting above-mentioned condition (in the case where "No"), motor angle, θ e is 0 ° or more and 90 ° or less Or greater than 270 ° and for 360 ° hereinafter, switching mark SF is set as " L " by motor angle switch judgement part 243.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " H ", switching part 244 is selected θ e2 is selected, exports (step S303) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " L ", switching part 244 is selected θ e7 is selected, exports (step S304) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

Electrical angle interpolation portion 240D use coefficient B 0 corresponding with interpolation electrical angle 1~4 (s1~4 θ), B1 (referring to table 1) FOH operation is carried out, interpolation electrical angle 1~4 (s1~4 θ) are calculated separately out.

Figure 65 indicates that each portion's waveform of electrical angle interpolation portion 240D, horizontal axis are time [sec], the longitudinal axis be by MPU etc. into The intrinsic value of row processing is 64 [dec]/1 [deg].In addition, 23040 [dec]=360 [deg].

(A) of Figure 65 be from arithmetic processing section 241D export motor angle, θ e2 waveform example, (B) of Figure 65 be from The waveform example of the motor angle, θ e7 of arithmetic processing section 242D output with offset.In addition, (C) of Figure 65 indicates switching mark (D) of the switching timing of " H " of SF, " L ", Figure 65 indicates the interpolation duty ratio operation motor angle exported from switching part 244 Spend the waveform example of (interpolation electrical angle) θ s.

As shown in (D) of Figure 65, compared with the waveform shown in (A) of Figure 65, electrical angle interpolation portion 240D output it is electronic Machine angle (interpolation electrical angle) θ s does not have transitional angles shifts when motor angle, θ s is more than 360 ° and returns to 0 °.Electricity Motivation angle, θ e noise if linear height is less, the not transitional change other than being switched to 0 ° of angle change from 360 ° Change, therefore can ensure high precision in the calculating of the interpolation electrical angle carried out based on FOH operation.

[space vector modulation portion 250]

Figure 66 is the functional structure chart in space vector modulation portion 250.

Space vector modulation portion (transformation component) 250 carries out space vector after being transformed to the dimension of duty ratio from the dimension of voltage Transform operation (shift conversion step).Space vector modulation portion 250 has following function: by the regular operation of dq shaft space with accounting for Sky than instruction value D1m (m=d, q) (Duty_d, Duty_q) be transformed to three-phase duty instruction value (Duty_ua, Duty_va, Duty_wa it) is superimposed triple-frequency harmonics, exports duty instruction value Duty_u, Duty_v, Duty_w of three-phase, such as can make The space proposed in Japanese Unexamined Patent Publication 2017-70066 bulletin or International Publication No. 2017/098840 etc. with the applicant to Measure modulator approach.

Space vector modulation portion 250, which has, carries out above-mentioned space vector transformation fortune using motor angle (electrical angle) θ e The space vector modulation portion 250-0 of calculation and space vector transform operation is carried out using interpolation electrical angle 1~4 (s1~4 θ) respectively Space vector modulation portion 250-1,250-2,250-3,250-4.

Space vector modulation portion 250-0 carries out space vector transform operation, output using motor angle (electrical angle) θ e Duty instruction value Duty_u, Duty_v, Duty_w of three-phase.

Space vector modulation portion 250-1 carries out space vector transform operation using interpolation electrical angle 1 (θ s1), exports three-phase Interpolation duty instruction value Duty_u_m1, Duty_v_m1, Duty_w_m1.

Space vector modulation portion 250-2 carries out space vector transform operation using interpolation electrical angle 2 (θ s2), exports three-phase Interpolation duty instruction value Duty_u_m2, Duty_v_m2, Duty_w_m2.

Space vector modulation portion 250-3 carries out space vector transform operation using interpolation electrical angle 3 (θ s3), exports three-phase Interpolation duty instruction value Duty_u_m3, Duty_v_m3, Duty_w_m3.

Space vector modulation portion 250-4 carries out space vector transform operation using interpolation electrical angle 4 (θ s4), exports three-phase Interpolation duty instruction value Duty_u_m4, Duty_v_m4, Duty_w_m4.

[final duty ratio operational part 200]

Figure 67 is the functional structure chart of final duty ratio operational part 200.

Final duty ratio operational part 200 is by the regular duty instruction value Duty_n (n from space vector modulation portion 250 =u, v, w) it is input to adder 221.The input of the dutyfactor value after the offset of duty ratio 50% will be added by adder 221 To the limiter 222 of (variable) the limitation duty ratio output of the range 0~100%.Final regular duty is exported from limiter 222 Than instruction value Dn (n=u, v, w).

Interpolation duty instruction value Duty_n_m1 from space vector modulation portion 250 is input to adder 231, it will Dutyfactor value after being added the offset of duty ratio 50% by adder 231 is input to (variable) limit of range 0~100% The limiter 232 of duty ratio output processed.Final interpolation duty instruction value Dnm1 (n=u, v, w) is exported from limiter 232.

Interpolation duty instruction value Duty_n_m2, Duty_n_m3, Duty_n_m4 from space vector modulation portion 250 Progress is similarly handled with interpolation duty instruction value Duty_n_m1, exports final interpolation duty instruction value from limiter 232 Dnm2, Dnm3, Dnm4 (n=u, v, w).

Generally, EPS applies voltage from battery (DC+12V) supply motor, therefore can not supply the application in the negative direction (﹣) Voltage.The phase voltage command value of negative direction can not be so supplied, therefore phase current can not be flowed through in a negative direction.In order to cope with this Problem, three-phase deviate dutyfactor value 50% (+6V) and are set as reference voltage, even if thus three-phase is not 0V in three-phase duty ratio Phase current can also become 0A when value 50% (when motor applies voltage+12V).For example, in U phase dutyfactor value 50% (+6V), V In the case where phase dutyfactor value 50% (+6V), W phase dutyfactor value 50% (+6V), becomes U phase 0A, V phase 0A, W phase 0A, be set as In the case where U phase dutyfactor value 60% (+7.2V), V phase dutyfactor value 50% (+6V), W phase dutyfactor value 40% (+4.8V), In Flow through electric current on positive (+) direction in U phase, be set as U phase dutyfactor value 40% (+4.8V), V phase dutyfactor value 50% (+6V), In the case where W phase dutyfactor value 60% (+7.2V), electric current is flowed through in a negative direction in U phase.It is to account for by deviating three-phase Empty ratio 50% is set as reference voltage, and thus, it is possible to flow through the electric current of negative direction in the state of applying voltage and being positive.Separately Outside, dutyfactor value 50% deviates substantially stationary, but reference voltage when dutyfactor value 50% is according to the application voltage shape supplied State and changed.For example, dutyfactor value 50% becomes 5.5V, when applying voltage 13V, duty ratio when applying voltage 11V Value 50% becomes 6.5V.

[duty ratio exports configuration part 160A-1]

Figure 68 is the functional structure chart of duty ratio output configuration part 160A-1.

As shown in Figure 68, duty ratio, which exports configuration part (output configuration part) 160A-1 and will control cycle T c, is divided into 1/5 The interval (segmentation interval) of 50 μ s afterwards is consistent ground, final to what is exported according to the process time T since control cycle T c Duty instruction value Du_o, Dv_o, Dw_o switch over output (output setting process).

Figure 69 to Figure 72 is in the condition turned in such a way that motor speed becomes constant rotational speed (2000rpm) Under, estimate the analog result of interpolation electrical angle 1~4 (s1~4 θ) [deg].No matter in which result, interpolation electrical angle 1~ 4, with to the line overlap after motor electrical angle θ e progress linear interpolation, are able to confirm that high-precision and have properly carried out based on FOH The presumption angle operation of operation.

Figure 73 to Figure 76 is used in indicates that the simulation of result deduces slotting under the same conditions with Figure 69 into Figure 72 The analog waveform of duty instruction value (U phase) Du_m1~Du_m4 mending electrical angle 1~4 (s1~4 θ) and calculating.No matter In which result, output interpolation duty ratio refers on carrying out the line after linear interpolation to regular duty instruction value Du or nearby Value is enabled, be able to confirm that high-precision and has properly carried out the interpolation of the duty instruction value using interpolation electrical angle.In addition, V, W Mutually although it is not shown, but indicating same result.

It is few can not to calculate noise with being influenced by dead area compensation by control device of electric motor 400D according to the present embodiment Interpolation duty instruction value, in the control signal change for controlling PWM than the early period (50 μ s) in period for carrying out PWM operation It is dynamic.The increase of the calculation process amount of microcomputer is slight as a result, and can properly inhibit brushless motor vibration and Sound caused by motor can reduce sound caused by the motor of audible frequency range.

Control device of electric motor 400D according to the present embodiment is inserted in the operation of interpolation electrical angle using linear function Complementary operation FOH, although precision slightly reduces, can properly press down compared with the interpolation operation of quadratic function interpolation operation etc. The calculation process amount of microcomputer processed.

The 4th embodiment of the invention is described in detail above by reference to attached drawing, but specific structure is not limited to the reality Mode is applied, also comprising not departing from the design alteration etc. in the range of spirit of the invention.In addition it is also possible to appropriately combined above-mentioned Embodiment and variation shown in constituent element constitute.

(variation 10)

For example, the vector majorization that the control device of electric motor 400D of above embodiment is driven by using space vector Mode controls motor 100, but the control object motor of control device of electric motor is not limited to this.Motor of the invention The control object motor of control device is for example also possible to the brushless motor of sine wave control mode.Motor of the invention Control device not with duty instruction value for direct interpolation object, but using motor angle (electrical angle) θ e as interpolation pair As.Motor angle, θ e noise if linear height is less, without transition other than being switched to 0 ° of angle change from 360 ° The variation of property, therefore the energy in the calculating of the interpolation electrical angle carried out by FOH operation and the calculating of interpolation duty instruction value Enough ensure high precision.

(variation 11)

For example, the control device of electric motor 400D of above embodiment is mounted in electric power steering device 300D, but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention, which is suitble to be mounted in, to be required high torque and wants It asks in the motor drive of low noise.For example, being walked by being mounted in control device of electric motor of the invention to wearer It, can be properly in device of walking aid that muscle strength when row is assisted, the clearing apparatus acted indoors etc. Noise caused by the vibration of inhibition motor and motor, can reduce sound caused by the motor of audible frequency range.

(variation 12)

For example, the control device of electric motor 400D of above embodiment will be will control 50 μ s after cycle T c is divided into 1/5 (segmentation interval) at equal intervals estimated motor angle (interpolation electrical angle) θ s, but the mode of control device of electric motor and unlimited In this.In control device of electric motor of the invention, control cycle T c can be split with arbitrarily dividing number, in addition, It can also be split by unequal interval.

(variation 13)

For example, the control cycle T c of the control device of electric motor 400D of above embodiment is 250 μ s (frequency 4KHz), but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention is 100 μ s or more in control cycle T c And 250 below μ s when, can properly reduce sound caused by the motor of audible frequency range.Due to control device of electric motor The performance of CPU mounted etc. improves or the number of poles of control object motor increases, and the PREDICTIVE CONTROL period is shorter than 250 μ s.It is controlling When cycle T c processed is 100 μ s or more and 250 μ s or less, is created the problem that in the same manner as above embodiment and generate audible frequency Sound caused by the motor of rate range, but control device of electric motor according to the present invention, can properly inhibit brushless electric Sound caused by the vibration of machine and motor can reduce sound caused by the motor of audible frequency range.

(the 5th embodiment)

Referring to Figure 77 to Figure 95, the 5th embodiment of the invention is illustrated.

Figure 77 is the electric power steering device 300E for indicating the control device of electric motor 400E equipped with present embodiment Structure schematic diagram.Electric power steering device 300E is in columnar part (steering shaft) configured with motor and deceleration mechanism Column assist type electric power steering gear.

[electric power steering device 300E]

In electric power steering device 300E, via columnar shaft (steering shaft, steering wheel shaft) 2, reduction gearing of steering wheel 1 3, universal joint (universal joint) 4a, 4b, gear and rack teeth mechanism 5, pull rod 6a, 6b, and via hub unit 7a, 7b Link with steered wheel 8L, 8R.In addition, rotation angle sensor 14 and the inspection of the rudder angle θ e on columnar shaft 2 equipped with detection direction disk 1 The torque sensor 10 for surveying the steering torque Th of steering wheel 1, for assist steering wheel 1 steering force motor 100 via subtracting Fast gear 3 links with columnar shaft 2.The control unit (ECU) 30 of control electric power steering device 300E is powered by battery 13, and And igniting key signal is inputted via firing key 11.

Control unit 30 is detected according to the steering torque Th detected by torque sensor 10 and by vehicle speed sensor 12 Vehicle velocity V s operation auxiliary (steering assistance) instruction current instruction value, by performing compensation to the current instruction value calculated Deng voltage control instructions value Vref motor 100 is controlled.Rotation angle sensor 14 it is not necessary to, can be unworthy of It sets, can also obtain rudder angle (motor angle) θ e from rotation sensors such as the angular resolvers linked with motor 100.

Control unit 30 has computer, which mainly includes (Central Processing Unit, the center CPU Processing unit) (comprising MPU (Micro Processor Unit, microprocessing unit), MCU (Micro Controller Unit, Micro-control unit) etc.), and executable program.

Control unit 30 has the electronic electromechanics of the inverter 161 of drive motor 100, the electric current for detecting motor 100 The circuits such as current detection circuit 162, the angle detection 110A of motor angle, θ e for detecting motor 100.In addition, these circuits 100 side of motor can also be mounted in.

CAN (the Controller Area of the various information for transmitting vehicle is connected in control unit 30 Network, controller zone network) 40, additionally it is possible to vehicle velocity V s is received from CAN40.In addition, can also be connected in control unit 30 The non-CAN41 for being used to transmit communication, analog/digital signal, electric wave etc. other than CAN40.

In recent years, motor 100 is the three-phase brushless electricity as the mainstream of the actuator of electric power steering device 300E Motivation.Motor 100 is controlled by using the vector majorization mode of space vector driving.Using space vector driving Vector majorization mode in, independently set as motor 100 rotor reference axis for dominant vector q axis and For controlling the d axis of magnetic field strength, therefore the relationship that dq axis is in 90 ° is equivalent to the electric current (d of each axis by the vector majorization Shaft current instruction value Iref_d, q shaft current instruction value Iref_q).

[control device of electric motor 400E]

Figure 78 is the functional structure chart for the control device of electric motor 400E being made up of control unit 30.It is appropriately combined The electronic circuits such as the program, the inverter that execute in CPU etc. realize the function of control device of electric motor 400E.In the following description The middle function of recording as circuit can also be used as the program that executes in CPU etc. to realize.

The drive control of control device of electric motor 400E progress motor 100.Control device of electric motor 400E has electric current Instruction value operational part 31, motor control part 39E, PWM control unit 160, inverter 161, motor current detection circuit 162, Motor angle detection 110A, angular speed operational part 110B, three-phase alternating current/dq principal axis transformation portion 130.

Current instruction value operational part 31 uses to motor control part 39E output according to steering torque Th and vehicle velocity V s etc. auxiliary The dq shaft current instruction value Iref_m (m=d, q) for 2 axis (dq axis coordinate system) for helping figure etc. to calculate.

Motor control part 39E according to dq shaft current instruction value Iref_m (m=d, q), the motor angle, θ e of input with And motor speed N etc., calculating perform the voltage control instructions value Vref_mb (m=d, q) after dead area compensation.In addition, electronic Machine control unit 39E calculates accounting for for three-phase by space vector modulation according to voltage control instructions value Vref_mb (m=d, q) etc. Sky is exported than instruction value Du_o, Dv_o, Dw_o to PWM control unit 160.

Figure 79 is the structure chart of PWM control unit 160 and inverter 161.

As shown in Figure 79, inverter 161 is made of the three-phase bridge of FET, by carrying out according to PWM- dutyfactor value D1~D6 On/off carrys out drive motor 100.Motor switch 101, the motor are inserted between inverter 161 and motor 100 Supply of the switch 101 for the cutting electric current such as when auxiliary control stops.Upper side arm by as FET Q1 of switch element, Q2, Q3 is constituted, and lower side arm is made of FET Q4, Q5, Q6.In addition, FET Q1 and Q4 are the driving elements of U phase, FET Q2 and Q5 are V The driving element of phase, FET Q3 and Q6 are the driving elements of W phase.

As shown in Figure 79, PWM control unit 160 is according to duty instruction value Du_o, Dv_o, Dw_o of the three-phase inputted, Via the 161 pairs of motor 100 of inverter (inverter applies voltage VR) being made of shown in Figure 79 the bridge structure of upper lower arm Carry out drive control.As shown in Figure 79, PWM control unit 160 has the portion PWM 160A-2 and gate driving portion 160B.

As shown in Figure 79, the portion PWM 160A-2 is according to predetermined formula from duty instruction value Du_o, Dv_o, Dw_o of three-phase Calculate separately PWM- dutyfactor value D1~D6 of three-phase.For example, from oscillating portion 160C to the tune of the portion PWM 160A-2 input triangular wave Signal (carrier wave) CF, PWM portion 160A-2 processed and modulated signal CF synchronously calculate PWM- dutyfactor value D1~D6.

As shown in Figure 79, gate driving portion 160B exports PWM- dutyfactor value D1~D6 to drive as driving element The grid of FET Q1~Q6.

Electric power steering device 300E is vehicle-mounted product, therefore operating temperature range is wide, goes out from the viewpoint of failure safe Send out drive motor 100 inverter 161 with using household appliances as the general industry equipment of representative compared with, need to keep dead zone big (commercial plant < EPS).Generally, switch element (such as FET (Field-Effect Transistor, field effect transistor Pipe)) when disconnecting, there are delay times, therefore when the off/on switching for the switch element for carrying out upper lower arm simultaneously, sometimes The situation of DC link short circuit occurs.The generation of the situation in order to prevent, switch element equipped with upper lower arm both sides disconnect when Between (dead zone).

In the case where carrying out dead area compensation as described above, current waveform distortion, responsiveness, the steering feeling of current control When deteriorating, such as slowly turning in the state that steering wheel is located at immediate vicinity, torque pulsation (torque is generated sometimes ) etc. ripple discontinuous steering feeling caused by.

As shown in Figure 78, current detector 162 detects threephase motor electric current Iu, Iv, Iw of motor 100.It will test Threephase motor electric current Iu, Iv, Iw out is input to three-phase alternating current/dq principal axis transformation portion 130, is transformed to the feedback dq axis electricity of two-phase Flow Id, Iq.Feedback dq shaft current Id, Iq of two-phase is input to motor control part 39E.

Motor angle detection 110A carries out operation when needed to obtain the motor angle, θ e of motor 100.It will Motor angle, θ e is input to angular speed operational part 110B, motor control part 39E and three-phase alternating current/dq principal axis transformation portion 130.

Angular speed operational part 110B obtains motor speed N and motor angle speed according to motor angle, θ e by operation ω.Motor speed N and motor angle speed omega are input to motor control part 39E.

[motor control part 39E]

Figure 80 is the functional structure chart of motor control part 39E.

Motor control part 39E has voltage instruction value operational part 220, electrical angle interpolation portion 240E, space vector modulation Portion 250, final duty ratio operational part 200, duty ratio export configuration part 160A-1.

Voltage instruction value operational part 220 have dq axis dead area compensation value operational part 201, dq shaft current feedback control section 203, Voltage/duty ratio transformation coefficient operational part 204, adder 205, dq axis duty ratio clamper/VR incude operational part 210.

Voltage instruction value operational part 220 uses the motor electrical angle θ obtained from motor 100 in each control cycle T c E and motor speed θ e, current instruction value Iref_m (m=d, q) etc. calculate voltage instruction value (voltage instruction value operation work Sequence).

Dq axis dead area compensation value operational part 201 by according to the motor speed N of input, motor angle (electrical angle) θ e, The calculated dq axis dead area compensation value DT_m (m=d, q) of dq shaft current instruction value Iref_m (m=d, q) is output to adder 205。

Dq shaft current feedback control section 203 will be according to the motor angle speed omega of input, dq shaft current instruction value Iref_m The calculated voltage control instructions value Vref_ma (m=d, q) of feedback dq shaft current Id, Iq of (m=d, q), two-phase, which is output to, to be added Method portion 205.

Voltage/duty ratio transformation coefficient operational part 204 applies voltage VR according to inverter and calculates the transformation of voltage/duty ratio COEFFICIENT K c.

Adder 205 is exported to three-phase duty ratio clamper/VR induction operational part 210 by dq axis dead area compensation value DT_m (m= D, q) with voltage control instructions value Vref_ma (m=d, q) be added obtained from voltage control instructions value Vref_mb (m= D, q).

Dq axis duty ratio clamper/VR (inverter application voltage) incudes operational part 210 and exports to space vector modulation portion 250 Dq axis obtained from voltage control instructions value Vref_mb (m=d, q) is multiplied with voltage/duty ratio transformation transformation coefficient Kc It is regular to use duty instruction value D1m (m=d, q) (Duty_d, Duty_q).

[electrical angle interpolation portion 240E]

Figure 81 is the structure chart of electrical angle interpolation portion 240E.

Electrical angle interpolation portion 240E calculates interpolation duty ratio operation motor angle according to the motor angle, θ e of input (interpolation electrical angle) θ s, and it is output to space vector modulation portion 250 (electrical angle interpolation process).

Electrical angle interpolation portion 240E passes through for the secondary of the motor angle, θ e detected in control 250 μ s (Tc) of period Function interpolation operation (Second Order Hold (second order holding) operation, below sometimes by quadratic function interpolation operation simply Referred to as " SOH operation ") or (First Order Hold (single order holding) operation, below sometimes by one of linear function interpolation operation Secondary function interpolation operation is simply referred as " FOH operation "), the interval (segmentation of 50 μ s after cycle T c is divided into 1/5 will be controlled Interval) presumption motor angle (interpolation electrical angle) θ s, and calculated according to motor angle (interpolation electrical angle) the θ s deduced Interpolation duty instruction value.

In the dq shaft current control that electrical angle interpolation portion 240E is carried out, the duty ratio after space vector modulation is not instructed Value is set as interpolation object.This is because comprising by there are the dead zones of transient change in duty instruction value after space vector modulation Noise contribution caused by distortion components of offset, the triple-frequency harmonics generated by space vector modulation etc. instructs duty ratio Value carries out direct interpolation and calculated interpolation duty instruction value becomes the value comprising big noise.

As shown in Figure 81, electrical angle interpolation portion 240E has: arithmetic processing section 241, and input motor angle, θ e is direct Carry out SOH operation or FOH operation；Arithmetic processing section 242 with offset inputs motor angle, θ e to carry out migration processing Deng, and carry out SOH operation or FOH operation；Motor angle switch judgement part 243 determines that motor angle, θ e belongs to than 90 ° Which of big and range for 270 ° of ranges below and in addition to this range, and export switching mark SF (electrical angle is cut Dehorn will)；Switching part 244 is switched over according to switching mark SF docking point a, b, and output interpolation duty ratio operation is with electronic Machine angle (interpolation electrical angle) θ s；Interpolation operation switch judgement part 247 exports interpolation operation switching mark HF and interpolation switching Indicate EF；Second switching part 246 exports final interpolation duty ratio operation motor angle (interpolation electrical angle) θ c.

4 interpolation electricity that Figure 82 to Figure 85 is indicated to deduce the interval for controlling 50 μ s after cycle T c is divided into 1/5 Angle (hereinafter referred to as " interpolation electrical angle 1~4 ").Interpolation electric angle is calculated using the motor electrical angle θ e detected in the past 1~4 (s1~4 θ) are spent, so as to keep the variation of electrical angle smoothened.

In the following description, the interval that will control 50 μ s after cycle T c is divided into 1/5, is estimated by SOH operation 4 interpolation electrical angles 1~4 out are set as " ss1~4 θ ".In addition, will control between 50 μ s after cycle T c is divided into 1/5 Every being set as " sf1~4 θ " by 4 interpolation electrical angles 1~4 that FOH operation deduces.

Function y [k] used in SOH operation is indicated by formula 36.Y [k] is the expression motor for controlling periodicity k The function of angle (electrical angle).

[mathematical expression 36]

Y [k]=ak²+ bk+c ... (formula 36)

As coefficient of utilization a, b, c, the value of upper last time is indicated with y [- 2], the value of last time is indicated with y [- 1], is indicated with y [0] When this value, formula 37 is set up.

[mathematical expression 37]

Formula more than arrangement indicates a, b, c as formula 38 using y [0], y [- 1], y [- 2].

[mathematical expression 38]

When formula 38 is updated to formula 36, become formula 39.

[mathematical expression 39]

Y [k]=ak²+ bk+c=((k²+3k+2)/2)y[0]+((-2k²-4k)/2)y[-1]+((k²+k)/2)y[-2]

... (formula 39)

Since interpolation electrical angle 1 (θ ss1) be the electrical angle controlling cycle T c after 50 μ s (Tc × 1/5), therefore can be led to It crosses and k=0.2 is updated to formula 39 to calculate.

[mathematical expression 40]

Y [0.2]=(33y [0] -11y [- 1]+3y [- 2])/25 ... (formulas 40)

Since interpolation electrical angle 2 (θ ss2) be the electrical angle controlling cycle T c after 100 μ s (Tc × 2/5), therefore can It is calculated by the way that k=0.4 is updated to formula 39.

[mathematical expression 41]

Y [0.4]=(42y [0] -24y [- 1]+7y [- 2])/25 ... (formulas 41)

Since interpolation electrical angle 3 (θ ss3) be the electrical angle controlling cycle T c after 150 μ s (Tc × 3/5), therefore can It is calculated by the way that k=0.6 is updated to formula 39.

[mathematical expression 42]

Y [0.6]=(52y [0] -39y [- 1]+12y [- 2])/25 ... (formulas 42)

Since interpolation electrical angle 4 (θ ss4) be the electrical angle controlling cycle T c after 200 μ s (Tc × 4/5), therefore can It is calculated by the way that k=0.8 is updated to formula 39.

[mathematical expression 43]

Y [0.8]=(63y [0] -56y [- 1]+18y [- 2])/25 ... (formulas 43)

Figure 86 is the functional structure chart of SOH operational part 241-1 (242-4).

The holding unit 245-1 and holding unit 245-2 of upper sub-value of the SOH operational part 241-1 with motor angle, θ e, Coefficient portion B0 (245-3), coefficient portion B1 (245-4), coefficient portion B2 (245-5), adder 245-6, adder 245-7.

Motor angle, θ e is input to coefficient portion B0 (245-3) and holding unit 245-1, by holding unit 245-1's Retention value is input to coefficient portion B1 (245-4) and holding unit 245-2.The retention value of holding unit 245-2 is input to coefficient Portion B2 (245-5) passes through each output valve of coefficient portion B0 (245-3), coefficient portion B1 (245-4) and coefficient portion B2 (245-5) Adder 245-7 is exported after being added with adder 245-6 as interpolation electrical angle θ ss.

According to formula 40~43, indicated as table 4 coefficient B 0 when calculating interpolation electrical angle 1~4 (ss1~4 θ), B1, B2。

[table 4]

Function y [k] used in FOH operation is indicated by formula 44.Y [k] is the expression motor for controlling periodicity k The function of angle (electrical angle).

[mathematical expression 44]

Y [k]=ak+b ... (formula 44)

As coefficient of utilization a, b, with sub-value in y [- 1] expression, when indicating this value with y [0], formula 45 is set up.

[mathematical expression 45]

Formula more than arrangement indicates a, b as formula 46 using y [0], y [- 1].

[mathematical expression 46]

When formula 46 is updated to formula 44, become formula 47.

[mathematical expression 47]

Y [k]=(k+1) y [0]+(- k) y [- 1] ... (formula 47)

Since interpolation electrical angle 1 (θ sf1) be the electrical angle controlling cycle T c after 50 μ s (Tc × 1/5), therefore can be led to It crosses and k=0.2 is updated to formula 47 to calculate.

[mathematical expression 48]

Y [0.2]=1.2y [0] -0.2y [- 1] ... (formula 48)

Since interpolation electrical angle 2 (θ sf2) be the electrical angle controlling cycle T c after 100 μ s (Tc × 2/5), therefore can It is calculated by the way that k=0.4 is updated to formula 47.

[mathematical expression 49]

Y [0.4]=1.4y [0] -0.4y [- 1] ... (formula 49)

Since interpolation electrical angle 3 (θ sf3) be the electrical angle controlling cycle T c after 150 μ s (Tc × 3/5), therefore can It is calculated by the way that k=0.6 is updated to formula 47.

[mathematical expression 50]

Y [0.6]=1.6y [0] -0.6y [- 1] ... (formula 50)

Since interpolation electrical angle 4 (θ sf4) be the electrical angle controlling cycle T c after 200 μ s (Tc × 4/5), therefore can It is calculated by the way that k=0.8 is updated to formula 47.

[mathematical expression 51]

Y [0.8]=1.8y [0] -0.8y [- 1] ... (formula 51)

Figure 87 is the functional structure chart of FOH operational part 241D-1 (242D-4).

The holding unit 245-1 and holding unit 245- of upper sub-value of the FOH operational part 241D-1 with motor angle, θ e 2, coefficient portion B0 (245-3), coefficient portion B1 (245-4), coefficient portion B2 (245-5), adder 245-6, adder 245-7.

Motor angle, θ e is input into coefficient portion B0 (245-3) and holding unit 245-1, the guarantor of holding unit 245-1 It holds value and is input into coefficient portion B1 (245-4) and holding unit 245-2.The retention value of holding unit 245-2 is input into coefficient Portion B2 (245-5) passes through each output valve of coefficient portion B0 (245-3), coefficient portion B1 (245-4) and coefficient portion B2 (245-5) Adder 245-7 and adder 245-6 be added as interpolation electrical angle θ sf and are exported.

According to formula 48~51, coefficient B 0 when calculating interpolation electrical angle 1~4 (sf1~4 θ), B1 are indicated as table 5.

[table 5]

	B0	B1
			Interpolation electrical angle 1 (θ sf1)	1.2	-0.2
Interpolation electrical angle 2 (θ sf2)	1.4	-0.4
			Interpolation electrical angle 3 (θ sf3)	1.6	-0.6
Interpolation electrical angle 4 (θ sf4)	1.8	-0.8

Compared with SOH operation, the calculation process amount of FOH operation is few, and processing load when control unit 30 executes is also small.

As shown in Figure 81, the arithmetic processing section 241 in electrical angle interpolation portion 240E has: SOH operational part 241-1, defeated Enter motor angle, θ e to carry out SOH operation；FOH operational part 241D-1 inputs motor angle, θ e to carry out FOH operation； Interpolation operation switching part 241-3 transports output the θ ss and FOH of SOH operational part 241-1 according to interpolation operation switching mark HF The output θ sf of calculation portion 241D-1 is switched over and is exported；Processing unit 241-2 is overturn, to defeated from interpolation operation switching part 241-3 Motor angle, θ e1 out carries out overturning processing (waveform processing).To carry out overturning by overturning processing unit 241-2, treated Motor angle, θ e2 is input to the contact a of switching part 244.

Interpolation operation switching part 241-3 is in the case where interpolation operation switching mark HF is H, by FOH operational part 241D-1 Output θ sf exported as θ s1.Interpolation operation switching part 241-3, will in the case where interpolation operation switching mark HF is L The power output θ ss of SOH operational part 241-1 is exported as θ s1.

As shown in Figure 81, the arithmetic processing section 242 with offset has: adder 242-2 inputs motor angle, θ e, And based on 180 ° of progress migration processings of the coefficient inputted from fixed part 242-1；Processing unit 242-3 is overturn, to from adder The motor angle, θ e3 of 242-2 input carries out overturning processing (waveform processing)；SOH operational part 242-4, is handled from overturning The motor angle, θ e4 of portion 242-3 input is modified；FOH operational part 242D-4 is modified motor angle, θ e4； Interpolation operation switching part 242-8, according to interpolation operation switching mark HF switch output SOH operational part 242-4 output θ ss with The output θ sf of FOH operational part 242D-44；Subtraction portion 242-6 inputs motor angle, θ from interpolation operation switching part 242-8 E5, and offset return processing is carried out based on 180 ° of the coefficient inputted from fixed part 242-5；Processing unit 242-7 is overturn, to from subtracting The motor angle, θ e6 of method portion 242-6 input carries out overturning processing (waveform processing).It will be carried out by overturning processing unit 242-7 The contact b of overturning treated motor angle, θ e7 is input to switching part 244.

Interpolation operation switching part 242-8 is in the case where interpolation operation switching mark HF is H, by FOH operational part 242D-4 Output θ sf exported as θ s5.Interpolation operation switching part 242-8, will in the case where interpolation operation switching mark HF is L The power output θ ss of SOH operational part 242-4 is exported as θ s5.

The motor angle, θ e2 of overturning processing unit 241-2 from arithmetic processing section 241E is input to switching part 244 Contact a, the motor angle, θ e7 of the overturning processing unit 242-7 of the arithmetic processing section 242E of included offset is input to switching in the future The contact b in portion 244.Then, according to switching mark (electrical angle switching mark) SF from motor angle switch judgement part 243 (" H ", " L ") switches over the contact a and b of switching part 244, exports interpolation duty ratio operation motor from switching part 244 Angle (interpolation electrical angle) θ s.

Motor angle (electrical angle) θ e is when being transferred to next motor angle from current motor angle, super 0 ° is returned in the case where crossing 360 °.Generate transitional angles shifts at this time, thus when use current motor angle into When row SOH operation, correct interpolation operation result will not be become sometimes.In order to avoid the problem, electrical angle interpolation portion 240E root According to the motor angle, θ e of input electrical angle come to operation output, (operation of interpolation duty ratio is switched over motor angle, θ s).

In the range of motor angle, θ e is 90 ° of e≤270 ° θ <, there is no transitional angle in motor angle, θ e It changes.Therefore, electrical angle interpolation portion 240E carries out SOH operation for the motor angle, θ e of input.

On the other hand, in the range of motor angle, θ e is e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, motor angle It spends and there are transitional angles shifts in θ e.Therefore, electrical angle interpolation portion 240E carries out at 180 ° of offsets motor angle, θ e Reason carries out SOH operation after becoming continuous angle signal, carries out 180 ° partially for the interpolation operation result after SOH operation Move return processing.

Motor angle switch judgement part 243 according to input motor angle, θ e generate switching mark SF (90 ° of < θ e≤ At 270 ° " H ", when e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ < " L ").

Switching part 244 selects according to switching mark SF and exports the interpolation duty ratio operation motor angle after SOH operation Spend (interpolation electrical angle) θ s.

That is, at 90 ° of e≤270 ° θ <, control switching part 244 as formula 52, output motor angle, θ e2 as Interpolation duty ratio operation motor angle, θ s.

[mathematical expression 52]

SF=H (90 ° of < θ_e≤ 270 °) ... (formula 52)

In addition, controlling switching part 244 as formula 53 at e≤90 ° 0 °≤θ or 270 ° of e≤360 ° θ <, export electronic Machine angle, θ e7 is as interpolation duty ratio operation motor angle, θ s.

[mathematical expression 53]

(0 °≤θ of SF=L_e≤ 90 ° or 270 ° of < θ_e≤ 360 °) ... (formula 53)

Second switching part 246 selects according to interpolation switching mark EF and exports final interpolation duty ratio operation motor Angle (interpolation electrical angle) θ c.Second switching part 246 is in the case where interpolation switching mark EF is H, output motor angle (electricity Angle) θ e is as θ c.Second switching part 246 in the case where interpolation switching mark EF is L, use by output interpolation duty ratio operation Motor angle, θ s is as θ c.

Figure 88 is the functional structure chart of interpolation operation switch judgement part 247.

There is interpolation operation switch judgement part 247 absolute value for the absolute value for calculating inputted motor speed N to calculate Portion 247-1, interpolation operation determination unit 247-3, interpolation determination unit 247-4.

The motor speed that interpolation operation determination unit 247-3 is exported according to absolute value calculation part 247-1 exports interpolation operation Switching mark HF.Interpolation operation determination unit 247-3 is for example being judged as that (1) motor speed N gets higher that (motor speed N is the It is more than one revolving speed), in the case that processing required for SOH operation has been more than the performance limit of control unit 30, (2) use is upper Comprising more noise in the result of the SOH operation of motor angle, θ e used in secondary and upper last time SOH operation In the case of etc., it is judged as that carrying out SOH operation is that interpolation operation switching mark HF is switched to " H " in inappropriate situation.It is removing In the case where other than this, interpolation operation switching mark HF is switched to " L " by interpolation operation determination unit 247-3.

When motor electrical angle θ e is switched to 0 [deg] from 360 [deg], transitionality is generated in motor electrical angle θ e Angles shifts, therefore electrical angle interpolation portion 240E passes through the output handoff functionality of switching part 244, selects and exports not comprising transition The interpolation electrical angle θ s of the influence of the angles shifts of property.However, when motor speed N is got higher (such as every control cycle T c becomes Dynamic angle is 45 [deg] or more), calculation process required for motor angle switch judgement part 243 waits is more than control unit 30 performance limit, motor angle switch judgement part 243 can not accurately determine the condition of 90 ° of e≤270 ° < θ sometimes.Cause This, when revolving speed is got higher, electrical angle interpolation portion 240E is difficult to export the interpolation electricity of the influence not comprising transitional angles shifts Angle, θ s.In this case, interpolation operation switching mark HF is switched to " H " by interpolation operation determination unit 247-3, by SOH operation It is switched to FOH operation.By being switched to FOH operation, the calculation process load of control unit 30 is reduced, motor angle is switched The judgement normalization of determination unit 243.

In addition, motor angle, θ e when SOH operation is using operation and being made in the SOH operation of last time and upper last time Motor angle, θ e.Therefore, three kinds of motor angle, θ e used in SOH operation all need not including transitionality The influence of angles shifts.When motor speed N is got higher, some motor angle in three kinds of motor angle, θ e includes transition Property the probability of influence of angles shifts get higher, electrical angle interpolation portion 240E is difficult to export not comprising transitional angles shifts The interpolation electrical angle θ s of influence.In this case, interpolation operation switching mark HF is switched to by interpolation operation determination unit 247-3 SOH operation is switched to FOH operation by " H ".FOH operation use operation when motor angle, θ e and in the SOH operation of last time Used motor angle, θ e.Therefore, used in the FOH operation only two kinds of motor angle, θ e do not include it is transitional The influence of angles shifts.Some motor angle by being switched to FOH operation, in motor angle, θ e used in operation The probability of influence of the degree comprising transitional angles shifts is lower, and output does not include the interpolation of the influence of transitional angles shifts The probability of electrical angle θ s is got higher.

In addition, the ratio of " H " and " L " of electrical angle determination flag SF is 1:1 in low speed/middling speed rotation, but when electricity Angles shifts are big when motivation revolving speed N is got higher, therefore the ratio of " H " and " L " of electrical angle determination flag SF is 5:3 or 3:5 sometimes. In this case, it is selected and is exported comprising transitionality sometimes according to the switching part 244 that electrical angle determination flag SF is acted The interpolation electrical angle θ s of the influence of angles shifts.In this case, interpolation operation determination unit 247-3 is by interpolation operation switching mark HF is switched to " H ", and SOH operation is switched to FOH operation.By being switched to FOH operation, as described above, electricity used in operation Some motor angle in motivation angle, θ e includes that the probability of the influence of transitional angles shifts is lower.Therefore, though In the case that the ratio of " H " and " L " of electrical angle determination flag SF is changed, output does not include transitional angles shifts The probability of interpolation electrical angle θ s of influence can also get higher.

In addition, in high speed rotary speed area (such as 5000 [rpm] or more), there are angle biographies according to the type of motor 100 The case where noise of sensor becomes larger, angle linearity error the case where becoming larger.In these cases, compared with FOH operation, SOH A possibility that including noise in the result of operation, gets higher.In this case, interpolation operation determination unit 247-3 switches interpolation operation Mark HF is switched to " H ", and SOH operation is switched to FOH operation.FOH operation use operation when motor angle, θ e and upper Motor angle, θ e used in secondary SOH operation.Therefore, only two kinds of motor angle, θ e is not used in the FOH operation Influence comprising transitional angles shifts.By being switched to FOH operation, can reduce includes noise in operation result Probability.

Also, due to control device of electric motor 400E the problem of and the sampling of motor angle, θ e not in time the case where Under, interpolation operation switching mark HF is switched to " H " by interpolation operation determination unit 247-3, and SOH operation is switched to FOH operation.It is logical It crosses and is switched to FOH operation, reduce the calculation process load of control unit 30, can effectively adopt operating motor angle, θ e Sample.

The motor speed that interpolation determination unit 247-4 is exported according to absolute value calculation part 247-1 exports interpolation switching mark EF.Interpolation determination unit 247-4 is in high speed area (such as 9000 [rpm] that can not clearly execute SOH operation and FOH operation More than) (in the case that motor speed N is the second revolving speed or more), interpolation switching mark EF is switched to H.Can not be clearly The high speed area for executing SOH operation and FOH operation can not accurately carry out a possibility that operation height, therefore electrical angle interpolation Portion 240E does not export interpolation operation result.

In addition, due to control device of electric motor 400E the problem of and being applied with transnormal processing to control unit 30 In the insufficient situation of process resource of load, execution SOH operation and FOH operation etc., interpolation determination unit 247-4 also switches interpolation Mark EF is switched to H.

Figure 89 and Figure 90 is that the mark (HF and EF) of interpolation operation determination unit 247-3 and interpolation determination unit 247-4 generates Chart.Interpolation operation determination unit 247-3 and interpolation determination unit 247-4 using hysteresis threshold Hi and hysteresis threshold Lo generate H and L this The mark (HF and EF) of 2 values.Hysteresis threshold Hi and hysteresis threshold Lo is for example respectively provided with the lag amplitude of the left and right 200 [rpm], prevents Only mark (HF and EF) is sharply changed in threshold boundaries.

Figure 91 is the control flow chart of electrical angle interpolation portion 240E.

Motor angle (electrical angle) θ e (step S401) is inputted to electrical angle interpolation portion 240E.

The SOH operational part 241-1 of arithmetic processing section 241 carries out SOH operation according to interpolation operation switching mark HF or FOH is transported It calculates (step S410).Motor angle, θ e is used in the SOH operation of next time as upper sub-value, therefore it is single to be input into holding First 245-1.In addition, having been enter into the upper sub-value of holding unit 245-1 makes in the SOH operation of next time as upper sub-value With, therefore it is input into holding unit 245-2.

Overturning processing unit 241-2 carries out overturning processing to the motor angle, θ e1 after carrying out SOH operation and carrys out output motor Angle, θ e2 (step S411).

The adder 242-2 of arithmetic processing section 242 with offset uses 180 ° of coefficient inputted from fixed part 242-1, right Motor angle (electrical angle) θ e carries out migration processing (step S420).

It is electronic to export that overturning processing unit 242-3 carries out overturning processing to the motor angle, θ e3 after carrying out migration processing Machine angle, θ e4 (step S4421).

SOH operational part 242-4 carries out SOH operation according to interpolation operation switching mark HF to the motor angle, θ e4 of input Or FOH operation (step S422).Motor angle, θ e is used in the SOH operation of next time as upper sub-value, therefore is entered To holding unit 245-1.In addition, the upper sub-value for having been enter into holding unit 245-1 is used as upper last time in the SOH operation of next time It is worth and uses, therefore is input into holding unit 245-2.

Motor angle, θ e5 after progress SOH operation is input to subtraction portion 242-6, by inputting from fixed part 242-5 180 ° of coefficient carry out offset return processing (step S423).

By overturning processing unit 242-7 to carry out offset return to that treated motor angle, θ e6 carry out overturning processing come Output motor angle, θ e7 (step S424).

After the completion of the processing of step S411 and step S424, motor angle switch judgement part 243 determines motor angle Spend the situation (step S402) that θ e is greater than 90 ° and is 270 ° or less.

In the case where meeting the condition (the case where "Yes"), motor angle switch judgement part 243 is by switching mark SF It is switched to " H ".

In the case where not meeting above-mentioned condition (in the case where "No"), motor angle, θ e is 0 ° or more and 90 ° or less Or greater than 270 ° and for 360 ° hereinafter, switching mark SF is switched to " L " by motor angle switch judgement part 243.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " H ", switching part 244 is selected θ e2 is selected, exports (step S403) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

In the case where the switching mark SF inputted from motor angle switch judgement part 243 is " L ", switching part 244 is selected θ e7 is selected, exports (step S404) as interpolation duty ratio operation motor angle (interpolation electrical angle) θ s.

Second switching part 246 determines the case where interpolation switching mark EF is H (step S405).

In the case where meeting the condition (in the case where "Yes"), 246 output motor angle (electric angle of the second switching part Degree) θ e is as θ c (step S406).

In the case where not meeting above-mentioned condition (in the case where "No"), the second switching part 246 exports interpolation duty ratio fortune Calculation is with motor angle, θ s as θ c (step S407).

Electrical angle interpolation portion 240E uses coefficient corresponding with interpolation electrical angle 1~4 (ss1~4 θ) that SOH operation estimates B0, B1, B2 (referring to table 1) and coefficient B 0 corresponding with interpolation electrical angle 1~4 (sf1~4 θ) of FOH operation presumption, B1 (ginseng According to table 2) Lai Jinhang interpolation operation, calculate separately interpolation electrical angle 1~4 (s1~4 θ).Electrical angle interpolation portion 240E is according to interpolation Switching mark EF selects motor angle (electrical angle) θ e or interpolation electrical angle 1~4 (s1~4 θ), and as interpolation electrical angle 1 ~4 (c1~4 θ) and export.

Figure 92 indicates that each portion's waveform of electrical angle interpolation portion 240E, horizontal axis are time [sec], the longitudinal axis be by MPU etc. into The intrinsic value of row processing is 64 [dec]/1 [deg].In addition, 23040 [dec]=360 [deg].

(A) of Figure 92 be from arithmetic processing section 241E export motor angle, θ e2 waveform example, (B) of Figure 92 be from The waveform example of the motor angle, θ e7 of arithmetic processing section 242E output with offset.In addition, (C) of Figure 92 indicates switching mark (D) of the switching timing of " H " of SF, " L ", Figure 92 indicates the interpolation duty ratio operation motor angle exported from switching part 244 Spend the waveform example of (interpolation electrical angle) θ s.

(such as the angle that every control cycle T c changes is 45 [deg] or more), motor angle when motor speed N is got higher The performance limit that the required calculation process such as switch judgement part 243 are more than control unit 30 is spent, such as the circle mark of (C) of Figure 92 Shown such, motor angle switch judgement part 243 can not accurately determine the condition of 90 ° of e≤270 ° < θ sometimes.

In this case, as shown in (D) of Figure 92, interpolation electrical angle θ s includes the influence of transitional angles shifts A possibility that get higher.In this case, interpolation operation switching mark HF is switched to " H " by interpolation operation determination unit 247-3, will SOH operation is switched to FOH operation.By being switched to FOH operation, the calculation process load of control unit 30 is reduced, motor is made The judgement normalization of angle switch judgement part 243.As a result, output does not include the interpolation electric angle of the influence of transitional angles shifts The probability of degree θ s is got higher.

[space vector modulation portion 250]

Figure 93 is the functional structure chart in space vector modulation portion 250.

Space vector modulation portion (transformation component) 250 carries out space vector after being transformed to the dimension of duty ratio from the dimension of voltage Transform operation (shift conversion step).Space vector modulation portion 250 has following function: by the regular operation of dq shaft space with accounting for Sky than instruction value D1m (m=d, q) (Duty_d, Duty_q) be transformed to three-phase duty instruction value (Duty_ua, Duty_va, Duty_wa it) is superimposed triple-frequency harmonics, exports duty instruction value Duty_u, Duty_v, Duty_w of three-phase, such as can make The space proposed in Japanese Unexamined Patent Publication 2017-70066 bulletin or International Publication No. 2017/098840 etc. with the applicant to Measure modulator approach.

Space vector modulation portion 250, which has, carries out above-mentioned space vector transformation fortune using motor angle (electrical angle) θ e The space vector modulation portion 250-0 of calculation and space vector transform operation is carried out using interpolation electrical angle 1~4 (s1~4 θ) respectively Space vector modulation portion 250-1,250-2,250-3,250-4.

Space vector modulation portion 250-0 carries out space vector transform operation, output using motor angle (electrical angle) θ e Duty instruction value Duty_u, Duty_v, Duty_w of three-phase.

Space vector modulation portion 250-1 carries out space vector transform operation using interpolation electrical angle 1 (θ c1), exports three-phase Interpolation duty instruction value Duty_u_m1, Duty_v_m1, Duty_w_m1.

Space vector modulation portion 250-2 carries out space vector transform operation using interpolation electrical angle 2 (θ c2), exports three-phase Interpolation duty instruction value Duty_u_m2, Duty_v_m2, Duty_w_m2.

Space vector modulation portion 250-3 carries out space vector transform operation using interpolation electrical angle 3 (θ c3), exports three-phase Interpolation duty instruction value Duty_u_m3, Duty_v_m3, Duty_w_m3.

Space vector modulation portion 250-4 carries out space vector transform operation using interpolation electrical angle 4 (θ c4), exports three-phase Interpolation duty instruction value Duty_u_m4, Duty_v_m4, Duty_w_m4.

[final duty ratio operational part 200]

Figure 94 is the functional structure chart of final duty ratio operational part 200.

Final duty ratio operational part 200 is by the regular duty instruction value Duty_n (n from space vector modulation portion 250 =u, v, w) it is input to adder 221.The input of the dutyfactor value after the offset of duty ratio 50% will be added by adder 221 To the limiter 222 of (variable) the limitation duty ratio output of the range 0~100%.Final regular duty is exported from limiter 222 Than instruction value Dn (n=u, v, w).

Interpolation duty instruction value Duty_n_m1 from space vector modulation portion 250 is input to adder 231, it will Dutyfactor value after being added the offset of duty ratio 50% by adder 231 is input to (variable) limit of range 0~100% The limiter 232 of duty ratio output processed.Final interpolation duty instruction value Dnm1 (n=u, v, w) is exported from limiter 232.

Interpolation duty instruction value Duty_n_m2, Duty_n_m3, Duty_n_m4 from space vector modulation portion 250 Progress is similarly handled with interpolation duty instruction value Duty_n_m1, exports final interpolation duty instruction value from limiter 232 Dnm2, Dnm3, Dnm4 (n=u, v, w).

Generally, EPS applies voltage from battery (DC+12V) supply motor, therefore can not supply the application in the negative direction (﹣) Voltage.The phase voltage command value of negative direction can not be so supplied, therefore phase current can not be flowed through in a negative direction.In order to cope with this Problem, three-phase deviate dutyfactor value 50% (+6V) and are set as reference voltage, even if thus three-phase is not 0V in three-phase duty ratio Phase current can also become 0A when value 50% (when motor applies voltage+12V).For example, in U phase dutyfactor value 50% (+6V), V In the case where phase dutyfactor value 50% (+6V), W phase dutyfactor value 50% (+6V), becomes U phase 0A, V phase 0A, W phase 0A, be set as In the case where U phase dutyfactor value 60% (+7.2V), V phase dutyfactor value 50% (+6V), W phase dutyfactor value 40% (+4.8V), In Flow through electric current on positive (+) direction in U phase, be set as U phase dutyfactor value 40% (+4.8V), V phase dutyfactor value 50% (+6V), In the case where W phase dutyfactor value 60% (+7.2V), electric current is flowed through in a negative direction in U phase.It is to account for by deviating three-phase Empty ratio 50% is set as reference voltage, and thus, it is possible to flow through the electric current of negative direction in the state of applying voltage and being positive.Separately Outside, dutyfactor value 50% deviates substantially stationary, but reference voltage when dutyfactor value 50% is according to the application voltage shape supplied State and changed.For example, dutyfactor value 50% becomes 5.5V, when applying voltage 13V, duty ratio when applying voltage 11V Value 50% becomes 6.5V.

[duty ratio exports configuration part 160A-1]

Figure 95 is the functional structure chart of duty ratio output configuration part 160A-1.

As shown in Figure 95, duty ratio, which exports configuration part (output configuration part) 160A-1 and will control cycle T c, is divided into 1/5 The interval (segmentation interval) of 50 μ s afterwards is consistent ground, final to what is exported according to the process time T since control cycle T c Duty instruction value Du_o, Dv_o, Dw_o switch over output (output setting process).

It is few can not to calculate noise with being influenced by dead area compensation by control device of electric motor 400E according to the present embodiment Interpolation duty instruction value, in the control signal change for controlling PWM than the early period (50 μ s) in period for carrying out PWM operation It is dynamic.The increase of the calculation process amount of microcomputer is slight as a result, and can properly inhibit brushless motor vibration and Sound caused by motor can reduce sound caused by the motor of audible frequency range.

Control device of electric motor 400E according to the present embodiment, such as it is being judged as that (1) motor speed N gets higher, SOH In the case that processing required for operation has been more than the performance limit of control unit 30, (2) were used in last time and upper last time The case where including more noise in the result of the SOH operation of motor angle, θ e used in SOH operation, is inferior, is judged as Carrying out SOH operation is that SOH operation is switched to FOH operation in inappropriate situation.As a result, output does not include transitional angle The probability for spending the interpolation electrical angle θ s of the influence changed is got higher.

Control device of electric motor 400E according to the present embodiment, such as can not clearly implement SOH operation and FOH fortune High speed area (such as 9000 [rpm] or more) of calculation etc., in the case where can not clearly implementing SOH operation and FOH operation, no Use interpolation operation result.As a result, control device of electric motor 400E can more safely carry out the control of motor 100.

The 5th embodiment of the invention is described in detail above by reference to attached drawing, but specific structure is not limited to the reality Mode is applied, also comprising not departing from the design alteration etc. in the range of spirit of the invention.In addition it is also possible to appropriately combined above-mentioned Embodiment and variation shown in constituent element constitute.

(variation 14)

For example, the vector majorization that the control device of electric motor 400E of above embodiment is driven by using space vector Mode controls motor 100, but it's not limited to that for the control object motor of control device of electric motor.Of the invention is electronic The control object motor of machine control device is for example also possible to the brushless motor of sine wave control mode.Of the invention is electronic Machine control device not with duty instruction value for direct interpolation object, but using motor angle (electrical angle) θ e as interpolation pair As.Motor angle, θ e noise if linear height is less, without transition other than being switched to 0 ° of angle change from 360 ° The variation of property, therefore the energy in the calculating of the interpolation electrical angle carried out by SOH operation and the calculating of interpolation duty instruction value Enough ensure high precision.

(variation 15)

For example, the control device of electric motor 400E of above embodiment is mounted in electric power steering device 300, but electricity The mode of motivation control device is not limited to this.Control device of electric motor of the invention, which is suitble to be mounted in, requires high torque and requirement In the motor drive of low noise.For example, by being mounted in control device of electric motor of the invention to wearer's walking When the muscle strength device of walking aid assisted, in the clearing apparatus that is acted indoors etc., can properly press down Noise caused by the vibration of motor processed and motor can reduce sound caused by the motor of audible frequency range.

(variation 16)

For example, the control device of electric motor 400E of above embodiment will be will control 50 μ s after cycle T c is divided into 1/5 (segmentation interval) at equal intervals estimated motor angle (interpolation electrical angle) θ s, but the mode of control device of electric motor and unlimited In this.In control device of electric motor of the invention, control cycle T c can be split with arbitrarily dividing number, in addition, It can also be split by unequal interval.

(variation 17)

For example, the control cycle T c of the control device of electric motor 400E of above embodiment is 250 μ s (frequency 4KHz), but The mode of control device of electric motor is not limited to this.Control device of electric motor of the invention is 100 μ s or more in control cycle T c And 250 below μ s when, can properly reduce sound caused by the motor of audible frequency range.Due to control device of electric motor The performance of CPU mounted etc. improves or the number of poles of control object motor increases, and the PREDICTIVE CONTROL period is shorter than 250 μ s.It is controlling When cycle T c processed is 100 μ s or more and 250 μ s or less, is created the problem that in the same manner as above embodiment and generate audible frequency Sound caused by the motor of rate range, but control device of electric motor according to the present invention, can properly inhibit brushless electric Sound caused by the vibration of machine and motor can reduce sound caused by the motor of audible frequency range.

(prior art)

As reference information, the prior art below is described.

Figure 96 is the functional structure chart of general control device of electric motor.Steering torque Th from torque sensor 10 with And the vehicle velocity V s from vehicle speed sensor 12 is input into steering assistance instruction value operational part 31.Steering assistance instruction value operational part 31 according to steering torque Th and vehicle velocity V s using auxiliary figure etc. come operation steering assistance instruction value Iref1.By adder 32A, The steering assistance instruction value Iref1 calculated is subjected to phase with the thermal compensation signal CM from compensation section 34 for being used to improve characteristic Add.Steering assistance instruction value Iref2 after being added limits maximum value by current confinement part 33.The electric current for limiting maximum value refers to It enables value Irefm be input into subtraction portion 32B, carries out subtraction with motor current detected value Im.

By PI (proportional integration) control unit 35, in subtraction portion 32B as subtraction result deviation delta I (= Irefm-Im) implement the current controls such as PI.By the voltage control instructions value Vref and modulated signal (triangle after progress current control Wave carrier signal) CF is input to PWM control unit 36, operation duty instruction value together.According to the calculated PWM letter of duty instruction value Number via inverter 37 to motor 20 carry out PWM driving.The motor current value Im of motor 20 is examined by motor current It surveys device 38 to detect, is input to subtraction portion 32B and is fed back.

Self aligning torque that compensation section 34 be will test or be deduced by adder 344 (Self-aligning torque, SAT it) is added with inertia compensation value 342, and is carried out the addition results and convergence control value 341 by adder 345 It is added, is input to adder 32A for the addition results as thermal compensation signal CM, implements characteristic improvement.

Figure 97 indicates functional structure when carrying out drive control to three-phase brushless motor 100 by vector majorization mode Figure.Pass through the 2 axis (dq that steering assistance instruction value operational part (not shown) calculates according to operations such as steering torque Th, vehicle velocity V s Axis coordinate system) steering assistance instruction value, limit 2 axis of maximum value d shaft current instruction value id* and q shaft current instruction Value iq* is respectively inputted to subtraction portion 131d and 131q.The current deviation Δ found out by subtraction portion 131d and 131q Id* and Δ iq* is respectively inputted to PI control unit 120d and 120q.It is carried out by PI control unit 120d and 120q Voltage instruction value vd and vq after PI control are respectively inputted to subtraction portion 141d and adder 1421q, pass through subtraction portion The command voltage Δ vd and Δ vq that 141d and adder 141q are found out are input into dq axis/three-phase alternating current transformation component 150.

Figure 98 is the functional structure chart of PWM control unit 163 and inverter 161.

By dq axis/three-phase alternating current transformation component 150 be transformed to three-phase voltage control instructions value Vref_u, Vref_v, Vref_w is input into PWM control unit 163, by the pwm signal of the duty instruction value based on the three-phase calculated, via figure Such inverter (inverter applies voltage VR) 161 drive motors 100 being made of the bridge structure of upper lower arm shown in 98.On Side arm is made of FET Q1, Q2, Q3 as switch element, and lower side arm is made of FET Q4, Q5, Q6.In addition, FET Q1 and Q4 It is the driving of U phase, FET Q2 and Q5 are the drivings of V phase, and FET Q3 and Q6 are the drivings of W phase.

Threephase motor electric current iu, iv, iw of motor 100 are detected by current detector 162.The three-phase detected Motor current iu, iv, iw are input into three-phase alternating current/dq principal axis transformation portion 130.Become by three-phase alternating current/dq principal axis transformation portion 130 The feedback current id and iq of 2 phases after changing are input to subtraction portion 131d and 131q by subtraction respectively, and are input into dq Axis non-Gan Wataru control unit 140.

In addition, rotation sensor etc. is equipped on motor 100, from the angle detection 110 of processing sensor signal Output motor angle, θ and motor speed ω.Motor angle, θ is input into dq axis/three-phase alternating current and changes portion 150 and three intersections Stream/dq principal axis transformation portion 130, motor speed ω are input into dq axis non-Gan Wataru control unit 140.From dq axis non-Gan Wataru control unit The voltage vnid and vniq of 140 two-phase are respectively inputted to subtraction portion 121d and adder 121q, are asked by subtraction portion 121d The voltage instruction value Δ vd out and voltage instruction value Δ vq found out by adder 121q is input into dq axis/three-phase alternating current and becomes Change portion 150.

PWM control unit 163 and inverter 161 are such structure shown in Figure 98, and PWM control unit 163 is by duty ratio operation Portion 160A and gate driving portion 160B are constituted, wherein duty ratio operational part 160A is by voltage control instructions value Vref_u, Vref_ V, Vref_w is calculated as PWM- dutyfactor value D1~D6 of three phasors according to pre- fixed pattern respectively, and gate driving portion 160B passes through PWM- Dutyfactor value D1~D6 drives the grid of FET Q1~Q6 as driving element, and carry out dead area compensation and connect/ It disconnects.Duty ratio operational part 160A is for example entered modulated signal (carrier wave) CF of triangular wave, duty ratio fortune from oscillating portion 160C Calculation portion 160A and modulated signal CF synchronously calculate PWM- dutyfactor value D1~D6.As described above, inverter 161 is by FET's Three-phase bridge is constituted, and is turned on/off by PWM- dutyfactor value D1~D6 come drive motor 100, in inverter 161 and electricity Inserted with motor switch 101 between motivation 100, the motor switch 101 is for the cutting electric current such as when auxiliary control stops Supply.

The electric power steering device of such vector majorization mode is the device for assisting the steering of driver, while will be electric Sound, vibration, ripple of motivation etc. pass to feeling of the driver as power via steering wheel.Drive the power device of inverter Generally it is powered using FET to motor, and in the case where threephase motor, using as shown in Figure 98 like that in each phase The FET of the series connection of upper lower arm.On/off is alternately repeated in the FET of upper lower arm, but FET is not perfect switch, no It is instantaneously turned on/off by the instruction of grid signal, needs turn-on time, turn-off time.Therefore, if being carried out simultaneously to upside Arm FET go code and the open command of lower side arm, then upper side arm FET and lower side arm FET is also turned on, and there are upper lower arms The problem of short circuit.It is poor to exist in the turn-on time and turn-off time of FET, while in the case where FET output order, to upside FET output goes code in the case that turn-on time is shorter (such as 100ns), and FET is connected immediately, even if defeated to downside FET Out open command and in turn-off time longer situation (such as 400ns), FET is not disconnected immediately, occur moment on the upside of FET connect The state that logical, downside FET is connected (for example, connection-connection during 400ns-100ns).

Therefore, the predetermined time as dead zone supplies to gate driving portion connects signal so as to upper side arm FET and downside Arm FET is not also turned on.The dead zone is that non-linear therefore current waveform is distorted, and the response performance of control deteriorates, generation sound Sound, vibration, ripple.In the case where pillar electric power steering device, between be connected to and connected by steel columnar shaft and steering wheel The configuration of the motor of the gear-box connect in its structure become very close to driver position, therefore with downstream supplementary mode Electric power steering device is compared, and needs that special consideration should be given to sound caused by motor, vibration ripple etc..

Figure 99 is the functional structure chart of the interpolation of the duty instruction value carried out based on previous SOH operation.For being not added It is the method for carrying out SOH operation and calculating interpolation dutyfactor value for the three-phase duty instruction value for calculating dead area compensation value.Existing Have in method, the dead area compensation of transition change is not SOH operand, but directly carries out SOH fortune for duty instruction value It calculates.When carrying out SOH operation to the duty instruction value of triple-frequency harmonics overlapping, the noise that operation result is included becomes larger, and produces sometimes Raw abnormal sound.In addition, the duty instruction value of three-phase only has the duty instruction value after space vector modulation in the control of dq axis, In the case that duty instruction value after use space Vector Modulation calculates interpolation dutyfactor value by SOH operation, include The distortion ingredient of triple-frequency harmonics caused by the transitional response of dead area compensation, space vector, therefore become that noise is biggish to be inserted Mend dutyfactor value.

Three-phase dead area compensation value operational part 201A is equipped in the control device of electric motor shown in Figure 99, which mends Repay value operational part 201A input motor speed ω, three-phase current instruction value Iref_n (n=u, v, w), motor angle (electric angle Degree) θ e calculates three-phase dead area compensation value DT_n (n=u, v, w).The dead area compensation value DT_n calculated is input into finally Duty ratio operational part 200A.

In addition, control device of electric motor shown in Figure 99 has: back-emf compensation value operational part 202 inputs electronic Machine rotational speed omega and motor angle, θ e carry out the back-emf compensation value EMF_na (n=u, v, w) of operation three-phase；Three-phase current is anti- (FB) control unit 203A is presented, inputs three-phase current instruction value Iref_n and three-phase current in (n=u, v, w) to export three-phase Voltage control instructions value Vref_na (n=u, v, w)；Voltage/duty ratio transformation coefficient operational part 204, applies according to inverter Voltage VR machine voltage/duty ratio transformation coefficient Kc.

To the back-emf compensation value EMF_na from back-emf compensation value operational part 202 and come by adder 205 Add operation is carried out from the voltage control instructions value Vref_na of three-phase current feedback control unit 203A.It is carried out by adder 20 Voltage control instructions value Vref_nb (n=u, v, w) obtained by back-emf compensation and voltage/duty ratio transformation transformation coefficient Kc is input into three-phase duty ratio clamper/inverter together and applies voltage induced operational part 210A.

Apply voltage induced operational part 210A by three-phase duty ratio clamper/inverter to convert multiplied by voltage/duty ratio Transformation coefficient Kc and the regular duty instruction value D1n of three-phase (n=u, v, w) calculated is input into final duty ratio operational part 200A, interpolation duty ratio-SOH operational part 220 and triple-frequency harmonics operational part 230.Pass through interpolation duty ratio-SOH operational part 220 The interpolation duty instruction value D2n calculated is input into final duty ratio operational part 200A and triple-frequency harmonics operational part 230, The triple-frequency harmonics offset (regular use) and triple-frequency harmonics offset (interpolation use) calculated by triple-frequency harmonics operational part 230 It is input into final duty ratio operational part 200A.

Final duty ratio operational part 200A inputs the three-phase dead area compensation value from dq axis dead area compensation value operational part 201 DT_n, the regular duty instruction value D1n of three-phase for applying voltage induced operational part 210 from three-phase duty ratio clamper/inverter, Interpolation duty instruction value D2n from interpolation duty ratio-SOH operational part 220, from triple-frequency harmonics operational part 230 three times Harmonic compensation value (regular use) and triple-frequency harmonics offset (interpolation use), and export the final regular dutyfactor value calculated Du, Dv, Dw and final interpolation dutyfactor value Dum, Dvm, Dwm.

Figure 100 is the functional structure chart of final duty ratio operational part 200A.

In final duty ratio operational part 200A, dead area compensation value DT_n, regular duty ratio are referred to by adder 201A Enable value D1n and triple-frequency harmonics offset (regular with) carry out add operation, by adder 211A to dead area compensation value DT_n, Interpolation duty instruction value D2n and triple-frequency harmonics offset (interpolation with) carry out add operation.Adder 201A and 211A In the result that adds be respectively inputted to adder 202A and 212A, duty is added by adder 202A and 212A respectively The limitation duty ratio output in 0~100% range (variable) is respectively inputted to than dutyfactor value obtained by 50% offset Limiter 203A and 213A.Final regular dutyfactor value Dn is exported from limiter 203, exports final interpolation from limiter 213A Dutyfactor value Dnf.

The final regular dutyfactor value Dn and final interpolation dutyfactor value Dnf exported from final duty ratio operational part 200A It is input into PWM control unit 163.Final regular dutyfactor value Dn and final interpolation dutyfactor value Dnf is after operation The retention value until the operation in next control period terminates.

Here, being illustrated to space vector modulation.In the above-described embodiment, in order to cut down operation times, from electricity The dimension of pressure carries out space vector transform operation after being transformed to the dimension of duty ratio.As shown in Figure 10, space vector modulation portion 250 With the regular operation of the dq shaft space of voltage induced operational part 210 will be applied from dq axis duty ratio clamper/inverter Duty instruction value D1m (Duty_d, Duty_q) is transformed to three-phase duty instruction value (Duty_ua, Duty_va, Duty_ Wa), make three-phase duty instruction value (Duty_ua, Duty_va, Duty_wa) Chong Die with triple-frequency harmonics and export regular duty ratio The function of instruction value Duty_n (Duty_u, Duty_v, Duty_w), such as the applicant also can be used in Japanese Unexamined Patent Publication 2017-70066 bulletin, the space vector modulation method proposed in International Publication No. 2017/098840 etc..

That is, Vector Modulation has following function: root when by being readily appreciated that the voltage-type of space vector modulation is illustrated According to the voltage instruction value Vd** and び Vq**, motor angle, θ e and sector number n (#1~#6) of dq shaft space, carry out Such coordinate transform as shown below, by the FET (upper side arm Q1, Q3, Q5, lower side arm Q2, Q4, Q6) of the inverter to bridge structure Progress on/off control, corresponding with section #1~#6 switching mode S1~S6 is supplied to motor, is thus controlled electronic The rotation of machine.

Figure 101 is the chart for indicating the relationship of the reference axis and motor angle, θ e for coordinate transform.

For coordinate transform, in space vector modulation, voltage instruction value Vd** and Vq** are sat according to formula 54 Mark voltage vector V α and the V β being transformed in alpha-beta coordinate system.

[mathematical expression 54]

In addition, by inverter application voltage be set as VR, indicated by formula 55 or formula 56 duty instruction value Duty_d, The relationship of Duty_q and voltage instruction value Vd**, Vq**.

[mathematical expression 55]

V_d ^**=VR × Duty_d/Duty100%

V_q ^**=VR × Duty_q/Duty100%

... (formula 55)

[mathematical expression 56]

Duty_d=V_d ^**/ VR × Duty100% (formula of VR induction)

Duty_q=V_q ^**/ VR × Duty100% (formula of VR induction)

... (formula 56)

There are as formula 57 between the target voltage vector of d-q coordinate system and the target voltage vector of alpha-beta coordinate system Relationship saves the absolute value of target voltage vector V.

[mathematical expression 57]

In the switching mode under space vector control, accordingly with switching mode S1~S6 of FET (Q1~Q6), pass through Reference voltage vector V0~V7 (different non-zero of every π/3 [rad] phase of 8 kinds of discretenesses shown in the space vector figure of Figure 102 Voltage vector V1~V6 and zero-voltage vectors V0, V7) define the output voltage of inverter.Then, these benchmark output electricity is controlled The selection of the amount of pressing to V0~V7 and its time of origin.In addition, using 6 areas by adjacent reference output voltage vector clamping Space vector can be given and belong to some in section #1~#6 for 6 section #1~#6, target voltage vector V by domain, point With sector number.The composite vector of V α and V β, that is, target voltage vector V, which whether there is, to be positive 6 jiaos in dividing in alpha-beta space It, can be according to the rotation in the alpha-beta coordinate system of target voltage vector V in some in such section shown in Figure 102 of shape Angle γ is found out.Refer in addition, determining rotation angle γ as from the voltage in motor angle, θ e and d-q coordinate system by γ=θ e+ δ The sum for the position phase δ for enabling the relationship of value Vd**, Vq** obtain.

Figure 103 represent by the lower inverter switching device Mode S 1 of space vector control, the perillaseed of S3, S5 control from Inverter exports target voltage vector V, and determines the switch in on/off signal S1~S6 (switching mode) for FET The timing diagram of pulse width machine timing.In space vector modulation, in each defined sampling period Ts, in sampling period Ts Operation etc. is carried out, the operation result is transformed to each switching pulse width in switching mode S1~S6 in next sampling period Ts Machine timing simultaneously exports.

Space vector modulation generation switching mode S1 corresponding with the sector number found out according to target voltage vector V~ S6.An example of switching mode S1~S6 of the FET of inverter when sector number is #1 (n=1) is shown in Figure 103.Signal S1, S3, S5 indicate the grid signal of FETQ1, Q3, Q5 corresponding with upper side arm.Horizontal axis indicates time, Ts and switch periods pair Answer, be divided into during 8, by T0/4, T1/2, T2/2, T0/4, T0/4, T2/2, T1/2 and T0/4 during.In addition, period T1 and T2 is the time for depending on sector number n and rotation angle γ.

Industrial application

The present invention can be applied to the control device of electric motor equipped with electric power steering device etc..

Symbol description

300 electric power steering devices

400 control device of electric motor

2 columnar shafts

3 reduction gearing

10 torque sensors

12 vehicle speed sensor

14 rotation angle sensors

30 control units (ECU)

31 current instruction value operational parts

39 motor control parts

100 motor

160 PWM control units

160A-1 duty ratio exports configuration part (output configuration part)

The portion 160A-2 PWM

160B gate driving portion

161 inverters

162 current detectors

200 final duty ratio operational parts

201 dq axis dead area compensation value operational parts

203 dq shaft current feedback control sections

204 transformation coefficient operational parts

210 dq axis duty ratio clampers/VR incudes operational part

220 voltage instruction value operational parts

240 electrical angle interpolation portions

243 motor angle switch judgement parts

244 switching parts

250 space vector modulation portions (transformation component).

Claims (16)

1. a kind of control device of electric motor carries out the inverter for driving three-phase brushless motor according to current instruction value PWM control, which is characterized in that have:

Voltage instruction value operational part uses the motor electric angle obtained in each control period from above-mentioned three-phase brushless motor Degree calculates voltage instruction value with motor speed, above-mentioned current instruction value；

Electrical angle interpolation portion, according to the segmentation interval after being split the above-mentioned control period, according to above-mentioned motor electric angle Degree presumption interpolation electrical angle；

Transformation component calculates the duty instruction value of three-phase, and root according to above-mentioned voltage instruction value and above-mentioned motor electrical angle The interpolation duty instruction value of three-phase is calculated according to above-mentioned voltage instruction value and above-mentioned interpolation electrical angle；And

Configuration part is exported, switch and export the duty instruction value and above-mentioned three of above-mentioned three-phase with above-mentioned segmentation interval with being consistent The interpolation duty instruction value of phase.

2. control device of electric motor according to claim 1, which is characterized in that

On above-mentioned electrical angle interpolation portion is estimated using some in quadratic function interpolation operation and linear function interpolation operation State interpolation electrical angle.

3. control device of electric motor according to claim 2, which is characterized in that

It is inserted in the case where above-mentioned motor speed is lower than scheduled first revolving speed using quadratic function in above-mentioned electrical angle interpolation portion Complementary operation estimates above-mentioned interpolation electrical angle, will be secondary in the case where above-mentioned motor speed is above-mentioned first revolving speed or more Function interpolation operation is switched to linear function interpolation operation.

4. control device of electric motor according to claim 3, which is characterized in that

Above-mentioned electrical angle interpolation portion exports above-mentioned motor in the case where above-mentioned motor speed is higher than scheduled second revolving speed Electrical angle as above-mentioned interpolation electrical angle,

Above-mentioned scheduled second revolving speed is higher than above-mentioned first revolving speed.

5. control device of electric motor according to claim 1, which is characterized in that

The above-mentioned control period is 100 μ s or more and 250 μ s or less.

6. control device of electric motor according to claim 1, which is characterized in that

Above-mentioned three-phase brushless motor is controlled by vector driving method,

Above-mentioned transformation component carries out space vector modulation.

7. a kind of method of motor control of three-phase brushless motor carries out PWM control to inverter according to current instruction value, It is characterized in that,

Above-mentioned method of motor control includes:

Voltage instruction value calculation step uses the motor electric angle obtained in each control period from above-mentioned three-phase brushless motor Degree calculates voltage instruction value with motor speed, above-mentioned current instruction value；

Electrical angle interpolating step, according to the segmentation interval after being split the above-mentioned control period, according to above-mentioned motor electric angle Degree presumption interpolation electrical angle；

Shift step calculates the duty instruction value of three-phase, and root according to above-mentioned voltage instruction value and above-mentioned motor electrical angle The interpolation duty instruction value of three-phase is calculated according to above-mentioned voltage instruction value and above-mentioned interpolation electrical angle；And

Setting procedure is exported, switch and export the duty instruction value and above-mentioned three of above-mentioned three-phase with above-mentioned segmentation interval with being consistent The interpolation duty instruction value of phase.

8. method of motor control according to claim 7, which is characterized in that

In above-mentioned electrical angle interpolating step, switch quadratic function interpolation operation and linear function interpolation operation to estimate above-mentioned insert Mend electrical angle.

9. method of motor control according to claim 8, which is characterized in that

In above-mentioned electrical angle interpolating step, in the case where above-mentioned motor speed is lower than scheduled first revolving speed, two are used Secondary function interpolation operation estimates above-mentioned interpolation electrical angle, when above-mentioned motor speed is above-mentioned first revolving speed or more, by two Secondary function interpolation operation is switched to linear function interpolation operation.

10. method of motor control according to claim 9, which is characterized in that

In above-mentioned electrical angle interpolating step, in the case where above-mentioned motor speed is higher than scheduled second revolving speed, in output Motor electrical angle is stated as above-mentioned interpolation electrical angle,

Above-mentioned scheduled second revolving speed is higher than above-mentioned first revolving speed.

11. a kind of electric power steering device of vector majorization mode, has the dq that will at least calculate according to steering torque Shaft current instruction value is transformed to three-phase duty instruction value, according to above-mentioned three-phase duty instruction value, is controlled by the PWM of inverter System carries out drive control to three-phase brushless motor, and to the function that the dead zone of above-mentioned inverter compensates, and above-mentioned Electric power steering device assigns auxiliary torque to the steering mechanism of vehicle,

It is characterized in that,

Above-mentioned electric power steering device has:

Dq axis duty instruction value is transformed to three-phase according to above-mentioned motor angle to be superimposed by the first space vector modulation portion Triple-frequency harmonics exports the regular duty instruction value of three-phase, wherein above-mentioned dq axis duty instruction value is according to above-mentioned dq axis electricity Flow instruction value, motor angle and the calculated instruction value of motor speed；

Electrical angle interpolation portion carries out interpolation operation according to above-mentioned motor angle to export interpolation duty ratio operation motor Angle；

Second space Vector Modulation portion refers to above-mentioned dq axis duty ratio according to above-mentioned interpolation duty ratio operation motor angle It enables value be transformed to three-phase to be superimposed triple-frequency harmonics, exports the interpolation duty instruction value of three-phase；

Final duty ratio operational part exports final according to above-mentioned regular duty instruction value and above-mentioned interpolation duty instruction value Regular dutyfactor value and final interpolation dutyfactor value.

12. electric power steering device according to claim 11, which is characterized in that

Above-mentioned electrical angle interpolation portion includes

Motor angle switch judgement part, determines whether above-mentioned motor angle belongs to preset range to export switching mark；

Arithmetic processing section carries out interpolation operation to above-mentioned motor angle；

Arithmetic processing section with offset carries out interpolation fortune to the above-mentioned motor angle for implementing migration processing at a predetermined angle It calculates, implements offset return processing for the above-mentioned predetermined angular for implementing above-mentioned interpolation operation；And

Switching part inputs the first interpolation motor angle from above-mentioned arithmetic processing section and from the offset of above-mentioned band The second interpolation motor angle of arithmetic processing section is switched over according to above-mentioned switching mark to export above-mentioned interpolation duty ratio Operation motor angle.

13. electric power steering device according to claim 11, which is characterized in that

Above-mentioned interpolation operation is quadratic function interpolation operation or linear function interpolation operation.

14. electric power steering device according to claim 12, which is characterized in that

Above-mentioned arithmetic processing section has the first overturning processing unit,

The arithmetic processing section of above-mentioned band offset has the second overturning processing unit after above-mentioned migration processing, at above-mentioned offset return Has third overturning processing unit after reason.

15. electric power steering device according to claim 12, which is characterized in that

Above-mentioned preset range is 90 ° or more and 270 ° of ranges below.

16. electric power steering device according to claim 12, which is characterized in that

Above-mentioned predetermined angular is 180 °.